Shopping facility track system and method of routing motorized transport units

ABSTRACT

Some embodiments include a track system comprising: an elevated track system comprising a series of elevated tracks that are positioned elevated above a sales floor and products distributed over at least a portion of the sales floor of a retail store, and configured such that multiple motorized transport units travel along the series of elevated tracks in traversing at least portions of the retail store.

RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.15/274,991, filed Sep. 23, 2016, which is incorporated herein byreference in its entirety, and which is a continuation of U.S.application Ser. No. 15/061,801, filed Mar. 4, 2016, Docket8842-134250-US (62/115,502), which claims the benefit of each of thefollowing U.S. Provisional applications: U.S. Provisional ApplicationNo. 62/129,726, filed Mar. 6, 2015, Docket 8842-134158-US (587US01);U.S. Provisional Application No. 62/129,727, filed Mar. 6, 2015, Docket8842-134268-US (615US01); U.S. Provisional Application No. 62/138,877,filed Mar. 26, 2015, Docket 8842-134162-US (610US01); U.S. ProvisionalApplication No. 62/138,885, filed Mar. 26, 2015, Docket 8842-134209-US(635US01); U.S. Provisional Application No. 62/152,421, filed Apr. 24,2015, Docket 8842-134155-US (608US01); U.S. Provisional Application No.62/152,465, filed Apr. 24, 2015, Docket 8842-134161-US (603US01); U.S.Provisional Application No. 62/152,440, filed Apr. 24, 2015, Docket8842-134208-US (611US01); U.S. Provisional Application No. 62/152,630,filed Apr. 24, 2015, Docket 8842-134249-US (612US01); U.S. ProvisionalApplication No. 62/152,711, filed Apr. 24, 2015, Docket 8842-134269-US(626US01); U.S. Provisional Application No. 62/152,610, filed Apr. 24,2015, Docket 8842-134574-US (623US01); U.S. Provisional Application No.62/152,667, filed Apr. 24, 2015, Docket 8842-134575-US (663US01); U.S.Provisional Application No. 62/157,388, filed May 5, 2015, Docket8842-134573-US (606US01); U.S. Provisional Application No. 62/165,579,filed May 22, 2015, Docket 8842-134576-US (677US01); U.S. ProvisionalApplication No. 62/165,416, filed May 22, 2015, Docket 8842-134589-US(624US01); U.S. Provisional Application No. 62/165,586, filed May 22,2015, Docket 8842-134945-US (732US01); U.S. Provisional Application No.62/171,822, filed Jun. 5, 2015, Docket 8842-134250-US (621US01); U.S.Provisional Application No. 62/175,182, filed Jun. 12, 2015, Docket8842-135963-US (726US01); U.S. Provisional Application No. 62/182,339,filed Jun. 19, 2015, Docket 8842-135961-US (749US01); U.S. ProvisionalApplication No. 62/185,478, filed Jun. 26, 2015, Docket 8842-136023-US(742US01); U.S. Provisional Application No. 62/194,131, filed Jul. 17,2015, Docket 8842-135962-US (739US01); U.S. Provisional Application No.62/194,119, filed Jul. 17, 2015, Docket 8842-136020-US (728US01); U.S.Provisional Application No. 62/194,121, filed Jul. 17, 2015, Docket8842-136022-US (740US01); U.S. Provisional Application No. 62/194,127,filed Jul. 17, 2015, Docket 8842-136024-US (743US01); U.S. ProvisionalApplication No. 62/202,744, filed Aug. 7, 2015, Docket 8842-135956-US(764US01); U.S. Provisional Application No. 62/202,747, filed Aug. 7,2015, Docket 8842-136021-US (734US01); U.S. Provisional Application No.62/205,548, filed Aug. 14, 2015, Docket 8842-135959-US (751US01); U.S.Provisional Application No. 62/205,569, filed Aug. 14, 2015, Docket8842-136123-US (680US01); U.S. Provisional Application No. 62/205,555,filed Aug. 14, 2015, Docket 8842-136124-US (741US01); U.S. ProvisionalApplication No. 62/205,539, filed Aug. 14, 2015, Docket 8842-136651-US(919US01); U.S. Provisional Application No. 62/207,858, filed Aug. 20,2015, Docket 8842-136508-US (854US01); U.S. Provisional Application No.62/214,826, filed Sep. 4, 2015, Docket 8842-136026-US (746US01); U.S.Provisional Application No. 62/214,824, filed Sep. 4, 2015, Docket8842-136025-US (744US01); U.S. Provisional Application No. 62/292,084,filed Feb. 5, 2016, Docket 8842-137833-US (925US01); U.S. ProvisionalApplication No. 62/302,547, filed Mar. 2, 2016, Docket 8842-136125-US(748US01); U.S. Provisional Application No. 62/302,567, filed Mar. 2,2016, Docket 8842-138040-US (731US01); U.S. Provisional Application No.62/302,713, filed Mar. 2, 2016, Docket 8842-137834-US (932US01); andU.S. Provisional Application No. 62/303,021, filed Mar. 3, 2016, Docket8842-137831-US (636US01), all of these applications being incorporatedherein by reference in their entirety.

TECHNICAL FIELD

These teachings relate generally to shopping environments and moreparticularly to devices, systems and methods for assisting customersand/or workers in those shopping environments.

BACKGROUND

In a modern retail store environment, there is a need to improve thecustomer experience and/or convenience for the customer. Whethershopping in a large format (big box) store or smaller format(neighborhood) store, customers often require assistance that employeesof the store are not always able to provide. For example, particularlyduring peak hours, there may not be enough employees available to assistcustomers such that customer questions go unanswered. Additionally, dueto high employee turnover rates, available employees may not be fullytrained or have access to information to adequately support customers.Other routine tasks also are difficult to keep up with, particularlyduring peak hours. For example, shopping carts are left abandoned,aisles become messy, inventory is not displayed in the proper locationsor is not even placed on the sales floor, shelf prices may not beproperly set, and theft is hard to discourage. All of these issues canresult in low customer satisfaction or reduced convenience to thecustomer. With increasing competition from non-traditional shoppingmechanisms, such as online shopping provided by e-commerce merchants andalternative store formats, it can be important for “brick and mortar”retailers to focus on improving the overall customer experience and/orconvenience.

BRIEF DESCRIPTION OF THE DRAWINGS

The above needs are at least partially met through provision ofembodiments of systems, devices, and methods designed to provideassistance to customers and/or workers in a shopping facility, such asdescribed in the following detailed description, particularly whenstudied in conjunction with the drawings, wherein:

FIG. 1 comprises a block diagram of a shopping assistance system asconfigured in accordance with various embodiments of these teachings;

FIGS. 2A and 2B are illustrations of a motorized transport unit of thesystem of FIG. 1 in a retracted orientation and an extended orientationin accordance with some embodiments;

FIGS. 3A and 3B are illustrations of the motorized transport unit ofFIGS. 2A and 2B detachably coupling to a movable item container, such asa shopping cart, in accordance with some embodiments;

FIG. 4 comprises a block diagram of a motorized transport unit asconfigured in accordance with various embodiments of these teachings;

FIG. 5 comprises a block diagram of a computer device as configured inaccordance with various embodiments of these teachings;

FIG. 6 comprises a block diagram of a system for bringing a shoppingcontainer to a customer in accordance with various embodiments of theseteachings;

FIG. 7 comprises a flow diagram of a process for bringing a shoppingcontainer to a customer in accordance with various embodiments of theseteachings;

FIG. 8 comprises a flow diagram as configured in accordance with variousembodiments of these teachings;

FIG. 9 comprises a block diagram, schematic view as configured inaccordance with various embodiments of these teachings;

FIG. 10 comprises a block diagram of a system for determining itemavailability in accordance with some embodiments.

FIG. 11 comprises a flow diagram of a method for determining itemavailability in accordance with some embodiments.

FIG. 12 comprises a flow diagram of a process for determining itemavailability in accordance with some embodiments.

FIG. 13 shows a simplified overhead view of an exemplary elevated tracksystem within a shopping facility, in accordance with some embodiments;

FIG. 14 illustrates some embodiments of an exemplary elevated track ofan elevated track system positioned above one or more shelving units,modulars, and other such product support units;

FIG. 15 illustrates some embodiments of a portion of an exemplaryelevated track of an elevated track system that include one or morestaging areas;

FIG. 16 illustrates a simplified flow diagram of an exemplary process ofrouting motorized transport units through a shopping facility, inaccordance with some embodiments.

FIG. 17 illustrates a simplified flow diagram of an exemplary process ofaddressing and/or categorizing incorrectly placed items, in accordancewith some embodiments.

FIG. 18 comprises a block diagram of a system in accordance with someembodiments;

FIG. 19 comprises a flow diagram in accordance with some embodiments;

FIG. 20 comprises an illustration of a process in accordance with someembodiments;

FIG. 21 comprises a block diagram of a system in accordance with someembodiments;

FIG. 22 comprises a process diagram in accordance with some embodiments.

Elements in the figures are illustrated for simplicity and clarity andhave not necessarily been drawn to scale. For example, the dimensionsand/or relative positioning of some of the elements in the figures maybe exaggerated relative to other elements to help to improveunderstanding of various embodiments of the present teachings. Also,common but well-understood elements that are useful or necessary in acommercially feasible embodiment are often not depicted in order tofacilitate a less obstructed view of these various embodiments of thepresent teachings. Certain actions and/or steps may be described ordepicted in a particular order of occurrence while those skilled in theart will understand that such specificity with respect to sequence isnot actually required. The terms and expressions used herein have theordinary technical meaning as is accorded to such terms and expressionsby persons skilled in the technical field as set forth above exceptwhere different specific meanings have otherwise been set forth herein.

DETAILED DESCRIPTION

The following description is not to be taken in a limiting sense, but ismade merely for the purpose of describing the general principles ofexemplary embodiments. Reference throughout this specification to “oneembodiment,” “an embodiment,” or similar language means that aparticular feature, structure, or characteristic described in connectionwith the embodiment is included in at least one embodiment of thepresent invention. Thus, appearances of the phrases “in one embodiment,”“in an embodiment,” and similar language throughout this specificationmay, but do not necessarily, all refer to the same embodiment.

Generally speaking, pursuant to various embodiments, systems, devicesand methods are provided for assistance of persons at a shoppingfacility. Generally, assistance may be provided to customers or shoppersat the facility and/or to workers at the facility. The facility may beany type of shopping facility at a location in which products fordisplay and/or for sale are variously distributed throughout theshopping facility space. The shopping facility may be a retail salesfacility, or any other type of facility in which products are displayedand/or sold. The shopping facility may include one or more of salesfloor areas, checkout locations, parking locations, entrance and exitareas, stock room areas, stock receiving areas, hallway areas, commonareas shared by merchants, and so on. Generally, a shopping facilityincludes areas that may be dynamic in terms of the physical structuresoccupying the space or area and objects, items, machinery and/or personsmoving in the area. For example, the shopping area may include productstorage units, shelves, racks, modules, bins, etc., and other walls,dividers, partitions, etc. that may be configured in different layoutsor physical arrangements. In other example, persons or other movableobjects may be freely and independently traveling through the shoppingfacility space. And in other example, the persons or movable objectsmove according to known travel patterns and timing. The facility may beany size of format facility, and may include products from one or moremerchants. For example, a facility may be a single store operated by onemerchant or may be a collection of stores covering multiple merchantssuch as a mall. Generally, the system makes use of automated, roboticmobile devices, e.g., motorized transport units, that are capable ofself-powered movement through a space of the shopping facility andproviding any number of functions. Movement and operation of suchdevices may be controlled by a central computer system or may beautonomously controlled by the motorized transport units themselves.Various embodiments provide one or more user interfaces to allow varioususers to interact with the system including the automated mobile devicesand/or to directly interact with the automated mobile devices. In someembodiments, the automated mobile devices and the corresponding systemserve to enhance a customer shopping experience in the shoppingfacility, e.g., by assisting shoppers and/or workers at the facility.

In some embodiments, a shopping facility personal assistance systemcomprises: a plurality of motorized transport units located in andconfigured to move through a shopping facility space; a plurality ofuser interface units, each corresponding to a respective motorizedtransport unit during use of the respective motorized transport unit;and a central computer system having a network interface such that thecentral computer system wirelessly communicates with one or both of theplurality of motorized transport units and the plurality of userinterface units, wherein the central computer system is configured tocontrol movement of the plurality of motorized transport units throughthe shopping facility space based at least on inputs from the pluralityof user interface units.

System Overview

Referring now to the drawings, FIG. 1 illustrates embodiments of ashopping facility assistance system 100 that can serve to carry out atleast some of the teachings set forth herein. It will be understood thatthe details of this example are intended to serve in an illustrativecapacity and are not necessarily intended to suggest any limitations asregards the present teachings. It is noted that generally, FIGS. 1-5describe the general functionality of several embodiments of a system,and FIGS. 6-21 expand on some functionalities of some embodiments of thesystem and/or embodiments independent of such systems.

In the example of FIG. 1, a shopping assistance system 100 isimplemented in whole or in part at a shopping facility 101. Generally,the system 100 includes one or more motorized transport units (MTUs)102; one or more item containers 104; a central computer system 106having at least one control circuit 108, at least one memory 110 and atleast one network interface 112; at least one user interface unit 114; alocation determination system 116; at least one video camera 118; atleast one motorized transport unit (MTU) dispenser 120; at least onemotorized transport unit (MTU) docking station 122; at least onewireless network 124; at least one database 126; at least one userinterface computer device 128; an item display module 130; and a lockeror an item storage unit 132. It is understood that more or fewer of suchcomponents may be included in different embodiments of the system 100.

These motorized transport units 102 are located in the shopping facility101 and are configured to move throughout the shopping facility space.Further details regarding such motorized transport units 102 appearfurther below. Generally speaking, these motorized transport units 102are configured to either comprise, or to selectively couple to, acorresponding movable item container 104. A simple example of an itemcontainer 104 would be a shopping cart as one typically finds at manyretail facilities, or a rocket cart, a flatbed cart or any other mobilebasket or platform that may be used to gather items for potentialpurchase.

In some embodiments, these motorized transport units 102 wirelesslycommunicate with, and are wholly or largely controlled by, the centralcomputer system 106. In particular, in some embodiments, the centralcomputer system 106 is configured to control movement of the motorizedtransport units 102 through the shopping facility space based on avariety of inputs. For example, the central computer system 106communicates with each motorized transport unit 102 via the wirelessnetwork 124 which may be one or more wireless networks of one or morewireless network types (such as, a wireless local area network, awireless personal area network, a wireless mesh network, a wireless starnetwork, a wireless wide area network, a cellular network, and so on),capable of providing wireless coverage of the desired range of themotorized transport units 102 according to any known wireless protocols,including but not limited to a cellular, Wi-Fi, Zigbee or Bluetoothnetwork.

By one approach the central computer system 106 is a computer baseddevice and includes at least one control circuit 108, at least onememory 110 and at least one wired and/or wireless network interface 112.Such a control circuit 108 can comprise a fixed-purpose hard-wiredplatform or can comprise a partially or wholly programmable platform,such as a microcontroller, an application specification integratedcircuit, a field programmable gate array, and so on. These architecturaloptions are well known and understood in the art and require no furtherdescription here. This control circuit 108 is configured (for example,by using corresponding programming stored in the memory 110 as will bewell understood by those skilled in the art) to carry out one or more ofthe steps, actions, and/or functions described herein.

In this illustrative example the control circuit 108 operably couples toone or more memories 110. The memory 110 may be integral to the controlcircuit 108 or can be physically discrete (in whole or in part) from thecontrol circuit 108 as desired. This memory 110 can also be local withrespect to the control circuit 108 (where, for example, both share acommon circuit board, chassis, power supply, and/or housing) or can bepartially or wholly remote with respect to the control circuit 108(where, for example, the memory 110 is physically located in anotherfacility, metropolitan area, or even country as compared to the controlcircuit 108).

This memory 110 can serve, for example, to non-transitorily store thecomputer instructions that, when executed by the control circuit 108,cause the control circuit 108 to behave as described herein. (As usedherein, this reference to “non-transitorily” will be understood to referto a non-ephemeral state for the stored contents (and hence excludeswhen the stored contents merely constitute signals or waves) rather thanvolatility of the storage media itself and hence includes bothnon-volatile memory (such as read-only memory (ROM) as well as volatilememory (such as an erasable programmable read-only memory (EPROM).)

Additionally, at least one database 126 may be accessible by the centralcomputer system 106. Such databases may be integrated into the centralcomputer system 106 or separate from it. Such databases may be at thelocation of the shopping facility 101 or remote from the shoppingfacility 101. Regardless of location, the databases comprise memory tostore and organize certain data for use by the central control system106. In some embodiments, the at least one database 126 may store datapertaining to one or more of: shopping facility mapping data, customerdata, customer shopping data and patterns, inventory data, productpricing data, and so on.

In this illustrative example, the central computer system 106 alsowirelessly communicates with a plurality of user interface units 114.These teachings will accommodate a variety of user interface unitsincluding, but not limited to, mobile and/or handheld electronic devicessuch as so-called smart phones and portable computers such astablet/pad-styled computers. Generally speaking, these user interfaceunits 114 should be able to wirelessly communicate with the centralcomputer system 106 via a wireless network, such as the wireless network124 of the shopping facility 101 (such as a Wi-Fi wireless network).These user interface units 114 generally provide a user interface forinteraction with the system. In some embodiments, a given motorizedtransport unit 102 is paired with, associated with, assigned to orotherwise made to correspond with a given user interface unit 114. Insome embodiments, these user interface units 114 should also be able toreceive verbally-expressed input from a user and forward that content tothe central computer system 106 or a motorized transport unit 102 and/orconvert that verbally-expressed input into a form useful to the centralcomputer system 106 or a motorized transport unit 102.

By one approach at least some of the user interface units 114 belong tocorresponding customers who have come to the shopping facility 101 toshop. By another approach, in lieu of the foregoing or in combinationtherewith, at least some of the user interface units 114 belong to theshopping facility 101 and are loaned to individual customers to employas described herein. In some embodiments, one or more user interfaceunits 114 are attachable to a given movable item container 104 or areintegrated with the movable item container 104. Similarly, in someembodiments, one or more user interface units 114 may be those ofshopping facility workers, belong to the shopping facility 101 and areloaned to the workers, or a combination thereof.

In some embodiments, the user interface units 114 may be general purposecomputer devices that include computer programming code to allow it tointeract with the system 106. For example, such programming may be inthe form of an application installed on the user interface unit 114 orin the form of a browser that displays a user interface provided by thecentral computer system 106 or other remote computer or server (such asa web server). In some embodiments, one or more user interface units 114may be special purpose devices that are programmed to primarily functionas a user interface for the system 100. Depending on the functionalityand use case, user interface units 114 may be operated by customers ofthe shopping facility or may be operated by workers at the shoppingfacility, such as facility employees (associates or colleagues),vendors, suppliers, contractors, etc.

By one approach, the system 100 optionally includes one or more videocameras 118. Captured video imagery from such a video camera 118 can beprovided to the central computer system 106. That information can thenserve, for example, to help the central computer system 106 determine apresent location of one or more of the motorized transport units 102and/or determine issues or concerns regarding automated movement ofthose motorized transport units 102 in the shopping facility space. Asone simple example in these regards, such video information can permitthe central computer system 106, at least in part, to detect an objectin a path of movement of a particular one of the motorized transportunits 102.

By one approach these video cameras 118 comprise existing surveillanceequipment employed at the shopping facility 101 to serve, for example,various security purposes. By another approach these video cameras 118are dedicated to providing video content to the central computer system106 to facilitate the latter's control of the motorized transport units102. If desired, the video cameras 118 can have a selectively movablefield of view and/or zoom capability that the central computer system106 controls as appropriate to help ensure receipt of useful informationat any given moment.

In some embodiments, a location detection system 116 is provided at theshopping facility 101. The location detection system 116 provides inputto the central computer system 106 useful to help determine the locationof one or more of the motorized transport units 102. In someembodiments, the location detection system 116 includes a series oflight sources (e.g., LEDs (light-emitting diodes)) that are mounted inthe ceiling at known positions throughout the space and that each encodedata in the emitted light that identifies the source of the light (andthus, the location of the light). As a given motorized transport unit102 moves through the space, light sensors (or light receivers) at themotorized transport unit 102, on the movable item container 104 and/orat the user interface unit 114 receive the light and can decode thedata. This data is sent back to the central computer system 106 whichcan determine the position of the motorized transport unit 102 by thedata of the light it receives, since it can relate the light data to amapping of the light sources to locations at the facility 101.Generally, such lighting systems are known and commercially available,e.g., the ByteLight system from ByteLight of Boston, Mass. Inembodiments using a ByteLight system, a typical display screen of thetypical smart phone device can be used as a light sensor or lightreceiver to receive and process data encoded into the light from theByteLight light sources.

In other embodiments, the location detection system 116 includes aseries of low energy radio beacons (e.g., Bluetooth low energy beacons)at known positions throughout the space and that each encode data in theemitted radio signal that identifies the beacon (and thus, the locationof the beacon). As a given motorized transport unit 102 moves throughthe space, low energy receivers at the motorized transport unit 102, onthe movable item container 104 and/or at the user interface unit 114receive the radio signal and can decode the data. This data is sent backto the central computer system 106 which can determine the position ofthe motorized transport unit 102 by the location encoded in the radiosignal it receives, since it can relate the location data to a mappingof the low energy radio beacons to locations at the facility 101.Generally, such low energy radio systems are known and commerciallyavailable. In embodiments using a Bluetooth low energy radio system, atypical Bluetooth radio of a typical smart phone device can be used as areceiver to receive and process data encoded into the Bluetooth lowenergy radio signals from the Bluetooth low energy beacons.

In still other embodiments, the location detection system 116 includes aseries of audio beacons at known positions throughout the space and thateach encode data in the emitted audio signal that identifies the beacon(and thus, the location of the beacon). As a given motorized transportunit 102 moves through the space, microphones at the motorized transportunit 102, on the movable item container 104 and/or at the user interfaceunit 114 receive the audio signal and can decode the data. This data issent back to the central computer system 106 which can determine theposition of the motorized transport unit 102 by the location encoded inthe audio signal it receives, since it can relate the location data to amapping of the audio beacons to locations at the facility 101.Generally, such audio beacon systems are known and commerciallyavailable. In embodiments using an audio beacon system, a typicalmicrophone of a typical smart phone device can be used as a receiver toreceive and process data encoded into the audio signals from the audiobeacon.

Also optionally, the central computer system 106 can operably couple toone or more user interface computers 128 (comprising, for example, adisplay and a user input interface such as a keyboard, touch screen,and/or cursor-movement device). Such a user interface computer 128 canpermit, for example, a worker (e.g., an associate, analyst, etc.) at theretail or shopping facility 101 to monitor the operations of the centralcomputer system 106 and/or to attend to any of a variety ofadministrative, configuration or evaluation tasks as may correspond tothe programming and operation of the central computer system 106. Suchuser interface computers 128 may be at or remote from the location ofthe facility 101 and may access one or more the databases 126.

In some embodiments, the system 100 includes at least one motorizedtransport unit (MTU) storage unit or dispenser 120 at various locationsin the shopping facility 101. The dispenser 120 provides for storage ofmotorized transport units 102 that are ready to be assigned to customersand/or workers. In some embodiments, the dispenser 120 takes the form ofa cylinder within which motorized transports units 102 are stacked andreleased through the bottom of the dispenser 120. Further details ofsuch embodiments are provided further below. In some embodiments, thedispenser 120 may be fixed in location or may be mobile and capable oftransporting itself to a given location or utilizing a motorizedtransport unit 102 to transport the dispenser 120, then dispense one ormore motorized transport units 102.

In some embodiments, the system 100 includes at least one motorizedtransport unit (MTU) docking station 122. These docking stations 122provide locations where motorized transport units 102 can travel andconnect to. For example, the motorized transport units 102 may be storedand charged at the docking station 122 for later use, and/or may beserviced at the docking station 122.

In accordance with some embodiments, a given motorized transport unit102 detachably connects to a movable item container 104 and isconfigured to move the movable item container 104 through the shoppingfacility space under control of the central computer system 106 and/orthe user interface unit 114. For example, a motorized transport unit 102can move to a position underneath a movable item container 104 (such asa shopping cart, a rocket cart, a flatbed cart, or any other mobilebasket or platform), align itself with the movable item container 104(e.g., using sensors) and then raise itself to engage an undersurface ofthe movable item container 104 and lift a portion of the movable itemcontainer 104. Once the motorized transport unit is cooperating with themovable item container 104 (e.g., lifting a portion of the movable itemcontainer), the motorized transport unit 102 can continue to movethroughout the facility space 101 taking the movable item container 104with it. In some examples, the motorized transport unit 102 takes theform of the motorized transport unit 202 of FIGS. 2A-3B as it engagesand detachably connects to a given movable item container 104. It isunderstood that in other embodiments, the motorized transport unit 102may not lift a portion of the movable item container 104, but that itremovably latches to, connects to or otherwise attaches to a portion ofthe movable item container 104 such that the movable item container 104can be moved by the motorized transport unit 102. For example, themotorized transport unit 102 can connect to a given movable itemcontainer using a hook, a mating connector, a magnet, and so on.

In addition to detachably coupling to movable item containers 104 (suchas shopping carts), in some embodiments, motorized transport units 102can move to and engage or connect to an item display module 130 and/oran item storage unit or locker 132. For example, an item display module130 may take the form of a mobile display rack or shelving unitconfigured to house and display certain items for sale. It may bedesired to position the display module 130 at various locations withinthe shopping facility 101 at various times. Thus, one or more motorizedtransport units 102 may move (as controlled by the central computersystem 106) underneath the item display module 130, extend upward tolift the module 130 and then move it to the desired location. A storagelocker 132 may be a storage device where items for purchase arecollected and placed therein for a customer and/or worker to laterretrieve. In some embodiments, one or more motorized transport units 102may be used to move the storage locker to a desired location in theshopping facility 101. Similar to how a motorized transport unit engagesa movable item container 104 or item display module 130, one or moremotorized transport units 102 may move (as controlled by the centralcomputer system 106) underneath the storage locker 132, extend upward tolift the locker 132 and then move it to the desired location.

FIGS. 2A and 2B illustrate some embodiments of a motorized transportunit 202, similar to the motorized transport unit 102 shown in thesystem of FIG. 1. In this embodiment, the motorized transport unit 202takes the form of a disc-shaped robotic device having motorized wheels(not shown), a lower body portion 204 and an upper body portion 206 thatfits over at least part of the lower body portion 204. It is noted thatin other embodiments, the motorized transport unit may have other shapesand/or configurations, and is not limited to disc-shaped. For example,the motorized transport unit may be cubic, octagonal, triangular, orother shapes, and may be dependent on a movable item container withwhich the motorized transport unit is intended to cooperate. Alsoincluded are guide members 208. In FIG. 2A, the motorized transport unit202 is shown in a retracted position in which the upper body portion 206fits over the lower body portion 204 such that the motorized transportunit 202 is in its lowest profile orientation which is generally thepreferred orientation for movement when it is unattached to a movableitem container 104 for example. In FIG. 2B, the motorized transport unit202 is shown in an extended position in which the upper body portion 206is moved upward relative to the lower body portion 204 such that themotorized transport unit 202 is in its highest profile orientation formovement when it is lifting and attaching to a movable item container104 for example. The mechanism within the motorized transport unit 202is designed to provide sufficient lifting force to lift the weight ofthe upper body portion 206 and other objects to be lifted by themotorized transport unit 202, such as movable item containers 104 anditems placed within the movable item container, item display modules 130and items supported by the item display module, and storage lockers 132and items placed within the storage locker. The guide members 208 areembodied as pegs or shafts that extend horizontally from the both theupper body portion 206 and the lower body portion 204. In someembodiments, these guide members 208 assist docking the motorizedtransport unit 202 to a docking station 122 or a dispenser 120. In someembodiments, the lower body portion 204 and the upper body portion arecapable to moving independently of each other. For example, the upperbody portion 206 may be raised and/or rotated relative to the lower bodyportion 204. That is, one or both of the upper body portion 206 and thelower body portion 204 may move toward/away from the other or rotatedrelative to the other. In some embodiments, in order to raise the upperbody portion 206 relative to the lower body portion 204, the motorizedtransport unit 202 includes an internal lifting system (e.g., includingone or more electric actuators or rotary drives or motors). Numerousexamples of such motorized lifting and rotating systems are known in theart. Accordingly, further elaboration in these regards is not providedhere for the sake of brevity.

FIGS. 3A and 3B illustrate some embodiments of the motorized transportunit 202 detachably engaging a movable item container embodied as ashopping cart 302. In FIG. 3A, the motorized transport unit 202 is inthe orientation of FIG. 2A such that it is retracted and able to move inposition underneath a portion of the shopping cart 302. Once themotorized transport unit 202 is in position (e.g., using sensors), asillustrated in FIG. 3B, the motorized transport unit 202 is moved to theextended position of FIG. 2B such that the front portion 304 of theshopping cart is lifted off of the ground by the motorized transportunit 202, with the wheels 306 at the rear of the shopping cart 302remaining on the ground. In this orientation, the motorized transportunit 202 is able to move the shopping cart 302 throughout the shoppingfacility. It is noted that in these embodiments, the motorized transportunit 202 does not bear the weight of the entire cart 302 since the rearwheels 306 rest on the floor. It is understood that in some embodiments,the motorized transport unit 202 may be configured to detachably engageother types of movable item containers, such as rocket carts, flatbedcarts or other mobile baskets or platforms.

FIG. 4 presents a more detailed example of some embodiments of themotorized transport unit 102 of FIG. 1. In this example, the motorizedtransport unit 102 has a housing 402 that contains (partially or fully)or at least supports and carries a number of components. Thesecomponents include a control unit 404 comprising a control circuit 406that, like the control circuit 108 of the central computer system 106,controls the general operations of the motorized transport unit 102.Accordingly, the control unit 404 also includes a memory 408 coupled tothe control circuit 406 and that stores, for example, operatinginstructions and/or useful data.

The control circuit 406 operably couples to a motorized wheel system410. This motorized wheel system 410 functions as a locomotion system topermit the motorized transport unit 102 to move within theaforementioned retail or shopping facility 101 (thus, the motorizedwheel system 410 may more generically be referred to as a locomotionsystem). Generally speaking, this motorized wheel system 410 willinclude at least one drive wheel (i.e., a wheel that rotates (around ahorizontal axis) under power to thereby cause the motorized transportunit 102 to move through interaction with, for example, the floor of theshopping facility 101). The motorized wheel system 410 can include anynumber of rotating wheels and/or other floor-contacting mechanisms asmay be desired and/or appropriate to the application setting.

The motorized wheel system 410 also includes a steering mechanism ofchoice. One simple example in these regards comprises one or more of theaforementioned wheels that can swivel about a vertical axis to therebycause the moving motorized transport unit 102 to turn as well.

Numerous examples of motorized wheel systems are known in the art.Accordingly, further elaboration in these regards is not provided herefor the sake of brevity save to note that the aforementioned controlcircuit 406 is configured to control the various operating states of themotorized wheel system 410 to thereby control when and how the motorizedwheel system 410 operates.

In this illustrative example, the control circuit 406 also operablycouples to at least one wireless transceiver 412 that operates accordingto any known wireless protocol. This wireless transceiver 412 cancomprise, for example, a Wi-Fi-compatible and/or Bluetooth-compatibletransceiver that can communicate with the aforementioned centralcomputer system 106 via the aforementioned wireless network 124 of theshopping facility 101. So configured the control circuit 406 of themotorized transport unit 102 can provide information to the centralcomputer system 106 and can receive information and/or instructions fromthe central computer system 106. As one simple example in these regards,the control circuit 406 can receive instructions from the centralcomputer system 106 regarding movement of the motorized transport unit102.

These teachings will accommodate using any of a wide variety of wirelesstechnologies as desired and/or as may be appropriate in a givenapplication setting. These teachings will also accommodate employing twoor more different wireless transceivers 412 if desired.

The control circuit 406 also couples to one or more on-board sensors414. These teachings will accommodate a wide variety of sensortechnologies and form factors. By one approach at least one such sensor414 can comprise a light sensor or light receiver. When theaforementioned location detection system 116 comprises a plurality oflight emitters disposed at particular locations within the shoppingfacility 101, such a light sensor can provide information that thecontrol circuit 406 and/or the central computer system 106 employs todetermine a present location and/or orientation of the motorizedtransport unit 102.

As another example, such a sensor 414 can comprise a distancemeasurement unit configured to detect a distance between the motorizedtransport unit 102 and one or more objects or surfaces around themotorized transport unit 102 (such as an object that lies in a projectedpath of movement for the motorized transport unit 102 through theshopping facility 101). These teachings will accommodate any of avariety of distance measurement units including optical units andsound/ultrasound units. In one example, a sensor 414 comprises a laserdistance sensor device capable of determining a distance to objects inproximity to the sensor. In some embodiments, a sensor 414 comprises anoptical based scanning device to sense and read optical patterns inproximity to the sensor, such as bar codes variously located onstructures in the shopping facility 101. In some embodiments, a sensor414 comprises a radio frequency identification (RFID) tag reader capableof reading RFID tags in proximity to the sensor. Such sensors may beuseful to determine proximity to nearby objects, avoid collisions,orient the motorized transport unit at a proper alignment orientation toengage a movable item container, and so on.

The foregoing examples are intended to be illustrative and are notintended to convey an exhaustive listing of all possible sensors.Instead, it will be understood that these teachings will accommodatesensing any of a wide variety of circumstances or phenomena to supportthe operating functionality of the motorized transport unit 102 in agiven application setting.

By one optional approach an audio input 416 (such as a microphone)and/or an audio output 418 (such as a speaker) can also operably coupleto the control circuit 406. So configured the control circuit 406 canprovide a variety of audible sounds to thereby communicate with a userof the motorized transport unit 102, other persons in the vicinity ofthe motorized transport unit 102, or even other motorized transportunits 102 in the area. These audible sounds can include any of a varietyof tones and other non-verbal sounds. These audible sounds can alsoinclude, in lieu of the foregoing or in combination therewith,pre-recorded or synthesized speech.

The audio input 416, in turn, provides a mechanism whereby, for example,a user provides verbal input to the control circuit 406. That verbalinput can comprise, for example, instructions, inquiries, orinformation. So configured, a user can provide, for example, a questionto the motorized transport unit 102 (such as, “Where are the towels?”).The control circuit 406 can cause that verbalized question to betransmitted to the central computer system 106 via the motorizedtransport unit's wireless transceiver 412. The central computer system106 can process that verbal input to recognize the speech content and tothen determine an appropriate response. That response might comprise,for example, transmitting back to the motorized transport unit 102specific instructions regarding how to move the motorized transport unit102 (via the aforementioned motorized wheel system 410) to the locationin the shopping facility 101 where the towels are displayed.

In this example the motorized transport unit 102 includes a rechargeablepower source 420 such as one or more batteries. The power provided bythe rechargeable power source 420 can be made available to whichevercomponents of the motorized transport unit 102 require electricalenergy. By one approach the motorized transport unit 102 includes a plugor other electrically conductive interface that the control circuit 406can utilize to automatically connect to an external source of electricalenergy to thereby recharge the rechargeable power source 420.

By one approach the motorized transport unit 102 comprises an integralpart of a movable item container 104 such as a grocery cart. As usedherein, this reference to “integral” will be understood to refer to anon-temporary combination and joinder that is sufficiently complete soas to consider the combined elements to be as one. Such a joinder can befacilitated in a number of ways including by securing the motorizedtransport unit housing 402 to the item container using bolts or otherthreaded fasteners as versus, for example, a clip.

These teachings will also accommodate selectively and temporarilyattaching the motorized transport unit 102 to an item container 104. Insuch a case the motorized transport unit 102 can include a movable itemcontainer coupling structure 422. By one approach this movable itemcontainer coupling structure 422 operably couples to a control circuit202 to thereby permit the latter to control, for example, the latchedand unlatched states of the movable item container coupling structure422. So configured, by one approach the control circuit 406 canautomatically and selectively move the motorized transport unit 102 (viathe motorized wheel system 410) towards a particular item containeruntil the movable item container coupling structure 422 can engage theitem container to thereby temporarily physically couple the motorizedtransport unit 102 to the item container. So latched, the motorizedtransport unit 102 can then cause the item container to move with themotorized transport unit 102. In embodiments such as illustrated inFIGS. 2A-3B, the movable item container coupling structure 422 includesa lifting system (e.g., including an electric drive or motor) to cause aportion of the body or housing 402 to engage and lift a portion of theitem container off of the ground such that the motorized transport unit102 can carry a portion of the item container. In other embodiments, themovable transport unit latches to a portion of the movable itemcontainer without lifting a portion thereof off of the ground.

In either case, by combining the motorized transport unit 102 with anitem container, and by controlling movement of the motorized transportunit 102 via the aforementioned central computer system 106, theseteachings will facilitate a wide variety of useful ways to assist bothcustomers and associates in a shopping facility setting. For example,the motorized transport unit 102 can be configured to follow aparticular customer as they shop within the shopping facility 101. Thecustomer can then place items they intend to purchase into the itemcontainer that is associated with the motorized transport unit 102.

In some embodiments, the motorized transport unit 102 includes aninput/output (I/O) device 424 that is coupled to the control circuit406. The I/O device 424 allows an external device to couple to thecontrol unit 404. The function and purpose of connecting devices willdepend on the application. In some examples, devices connecting to theI/O device 424 may add functionality to the control unit 404, allow theexporting of data from the control unit 404, allow the diagnosing of themotorized transport unit 102, and so on.

In some embodiments, the motorized transport unit 102 includes a userinterface 426 including for example, user inputs and/or user outputs ordisplays depending on the intended interaction with the user. Forexample, user inputs could include any input device such as buttons,knobs, switches, touch sensitive surfaces or display screens, and so on.Example user outputs include lights, display screens, and so on. Theuser interface 426 may work together with or separate from any userinterface implemented at a user interface unit 114 (such as a smartphone or tablet device).

The control unit 404 includes a memory 408 coupled to the controlcircuit 406 and that stores, for example, operating instructions and/oruseful data. The control circuit 406 can comprise a fixed-purposehard-wired platform or can comprise a partially or wholly programmableplatform. These architectural options are well known and understood inthe art and require no further description here. This control circuit406 is configured (for example, by using corresponding programmingstored in the memory 408 as will be well understood by those skilled inthe art) to carry out one or more of the steps, actions, and/orfunctions described herein. The memory 408 may be integral to thecontrol circuit 406 or can be physically discrete (in whole or in part)from the control circuit 406 as desired. This memory 408 can also belocal with respect to the control circuit 406 (where, for example, bothshare a common circuit board, chassis, power supply, and/or housing) orcan be partially or wholly remote with respect to the control circuit406. This memory 408 can serve, for example, to non-transitorily storethe computer instructions that, when executed by the control circuit406, cause the control circuit 406 to behave as described herein. (Asused herein, this reference to “non-transitorily” will be understood torefer to a non-ephemeral state for the stored contents (and henceexcludes when the stored contents merely constitute signals or waves)rather than volatility of the storage media itself and hence includesboth non-volatile memory (such as read-only memory (ROM) as well asvolatile memory (such as an erasable programmable read-only memory(EPROM).)

It is noted that not all components illustrated in FIG. 4 are includedin all embodiments of the motorized transport unit 102. That is, somecomponents may be optional depending on the implementation.

FIG. 5 illustrates a functional block diagram that may generallyrepresent any number of various electronic components of the system 100that are computer type devices. The computer device 500 includes acontrol circuit 502, a memory 504, a user interface 506 and aninput/output (I/O) interface 508 providing any type of wired and/orwireless connectivity to the computer device 500, all coupled to acommunication bus 510 to allow data and signaling to pass therebetween.Generally, the control circuit 502 and the memory 504 may be referred toas a control unit. The control circuit 502, the memory 504, the userinterface 506 and the I/O interface 508 may be any of the devicesdescribed herein or as understood in the art. The functionality of thecomputer device 500 will depend on the programming stored in the memory504. The computer device 500 may represent a high level diagram for oneor more of the central computer system 106, the motorized transport unit102, the user interface unit 114, the location detection system 116, theuser interface computer 128, the MTU docking station 122 and the MTUdispenser 120, or any other device or component in the system that isimplemented as a computer device.

Additional Features Overview

Referring generally to FIGS. 1-5, the shopping assistance system 100 mayimplement one or more of several different features depending on theconfiguration of the system and its components. The following provides abrief description of several additional features that could beimplemented by the system. One or more of these features could also beimplemented in other systems separate from embodiments of the system.This is not meant to be an exhaustive description of all features andnot meant to be an exhaustive description of the details any one of thefeatures. Further details with regards to one or more features beyondthis overview may be provided herein.

Tagalong Steering: This feature allows a given motorized transport unit102 to lead or follow a user (e.g., a customer and/or a worker)throughout the shopping facility 101. For example, the central computersystem 106 uses the location detection system 116 to determine thelocation of the motorized transport unit 102. For example, LED smartlights (e.g., the ByteLight system) of the location detection system 116transmit a location number to smart devices which are with the customer(e.g., user interface units 114), and/or on the item container104/motorized transport unit 102. The central computer system 106receives the LED location numbers received by the smart devices throughthe wireless network 124. Using this information, in some embodiments,the central computer system 106 uses a grid placed upon a 2D CAD map and3D point cloud model (e.g., from the databases 126) to direct, track,and plot paths for the other devices. Using the grid, the motorizedtransport unit 102 can drive a movable item container 104 in a straightpath rather than zigzagging around the facility. As the user moves fromone grid to another, the motorized transport unit 102 drives thecontainer 104 from one grid to the other. In some embodiments, as theuser moves towards the motorized transport unit, it stays still untilthe customer moves beyond an adjoining grid.

Detecting Objects: In some embodiments, motorized transport units 102detect objects through several sensors mounted on motorized transportunit 102, through independent cameras (e.g., video cameras 118), throughsensors of a corresponding movable item container 104, and throughcommunications with the central computer system 106. In someembodiments, with semi-autonomous capabilities, the motorized transportunit 102 will attempt to avoid obstacles, and if unable to avoid, itwill notify the central computer system 106 of an exception condition.In some embodiments, using sensors 414 (such as distance measurementunits, e.g., laser or other optical-based distance measurement sensors),the motorized transport unit 102 detects obstacles in its path, and willmove to avoid, or stop until the obstacle is clear.

Visual Remote Steering: This feature enables movement and/or operationof a motorized transport unit 102 to be controlled by a user on-site,off-site, or anywhere in the world. This is due to the architecture ofsome embodiments where the central computer system 106 outputs thecontrol signals to the motorized transport unit 102. These controlssignals could have originated at any device in communication with thecentral computer system 106. For example, the movement signals sent tothe motorized transport unit 102 may be movement instructions determinedby the central computer system 106; commands received at a userinterface unit 114 from a user; and commands received at the centralcomputer system 106 from a remote user not located at the shoppingfacility space.

Determining Location: Similar to that described above, this featureenables the central computer system 106 to determine the location ofdevices in the shopping facility 101. For example, the central computersystem 106 maps received LED light transmissions, Bluetooth low energyradio signals or audio signals (or other received signals encoded withlocation data) to a 2D map of the shopping facility. Objects within thearea of the shopping facility are also mapped and associated with thosetransmissions. Using this information, the central computer system 106can determine the location of devices such as motorized transport units.

Digital Physical Map Integration: In some embodiments, the system 100 iscapable of integrating 2D and 3D maps of the shopping facility withphysical locations of objects and workers. Once the central computersystem 106 maps all objects to specific locations using algorithms,measurements and LED geo-location, for example, grids are applied whichsections off the maps into access ways and blocked sections. Motorizedtransport units 102 use these grids for navigation and recognition. Insome cases, grids are applied to 2D horizontal maps along with 3Dmodels. In some cases, grids start at a higher unit level and then canbe broken down into smaller units of measure by the central computersystem 106 when needed to provide more accuracy.

Calling a Motorized Transport Unit: This feature provides multiplemethods to request and schedule a motorized transport unit 102 forassistance in the shopping facility. In some embodiments, users canrequest use of a motorized transport unit 102 through the user interfaceunit 114. The central computer system 106 can check to see if there isan available motorized transport unit. Once assigned to a given user,other users will not be able to control the already assigned transportunit. Workers, such as store associates, may also reserve multiplemotorized transport units in order to accomplish a coordinated largejob.

Locker Delivery: In some embodiments, one or more motorized transportunits 102 may be used to pick, pack, and deliver items to a particularstorage locker 132. The motorized transport units 102 can couple to andmove the storage locker to a desired location. In some embodiments, oncedelivered, the requestor will be notified that the items are ready to bepicked up, and will be provided the locker location and locker securitycode key.

Route Optimization: In some embodiments, the central computer systemautomatically generates a travel route for one or more motorizedtransport units through the shopping facility space. In someembodiments, this route is based on one or more of a user provided listof items entered by the user via a user interface unit 114; userselected route preferences entered by the user via the user interfaceunit 114; user profile data received from a user information database(e.g., from one of databases 126); and product availability informationfrom a retail inventory database (e.g., from one of databases 126). Insome cases, the route intends to minimize the time it takes to getthrough the facility, and in some cases, may route the shopper to theleast busy checkout area. Frequently, there will be multiple possibleoptimum routes. The route chosen may take the user by things the user ismore likely to purchase (in case they forgot something), and away fromthings they are not likely to buy (to avoid embarrassment). That is,routing a customer through sporting goods, women's lingerie, baby food,or feminine products, who has never purchased such products based onpast customer behavior would be non-productive, and potentiallyembarrassing to the customer. In some cases, a route may be determinedfrom multiple possible routes based on past shopping behavior, e.g., ifthe customer typically buys a cold Diet Coke product, children's shoesor power tools, this information would be used to add weight to the bestalternative routes, and determine the route accordingly.

Store Facing Features: In some embodiments, these features enablefunctions to support workers in performing store functions. For example,the system can assist workers to know what products and items are on theshelves and which ones need attention. For example, using 3D scanningand point cloud measurements, the central computer system can determinewhere products are supposed to be, enabling workers to be alerted tofacing or zoning of issues along with potential inventory issues.

Phone Home: This feature allows users in a shopping facility 101 to beable to contact remote users who are not at the shopping facility 101and include them in the shopping experience. For example, the userinterface unit 114 may allow the user to place a voice call, a videocall, or send a text message. With video call capabilities, a remoteperson can virtually accompany an in-store shopper, visually sharing theshopping experience while seeing and talking with the shopper. One ormore remote shoppers may join the experience.

Returns: In some embodiments, the central computer system 106 can task amotorized transport unit 102 to keep the returns area clear of returnedmerchandise. For example, the transport unit may be instructed to move acart from the returns area to a different department or area. Suchcommands may be initiated from video analytics (the central computersystem analyzing camera footage showing a cart full), from an associatecommand (digital or verbal), or on a schedule, as other priority tasksallow. The motorized transport unit 102 can first bring an empty cart tothe returns area, prior to removing a full one.

Bring a Container: One or more motorized transport units can retrieve amovable item container 104 (such as a shopping cart) to use. Forexample, upon a customer or worker request, the motorized transport unit102 can re-position one or more item containers 104 from one location toanother. In some cases, the system instructs the motorized transportunit where to obtain an empty item container for use. For example, thesystem can recognize an empty and idle item container that has beenabandoned or instruct that one be retrieved from a cart storage area. Insome cases, the call to retrieve an item container may be initiatedthrough a call button placed throughout the facility, or through theinterface of a user interface unit 114.

Respond to Voice Commands: In some cases, control of a given motorizedtransport unit is implemented through the acceptance of voice commands.For example, the user may speak voice commands to the motorizedtransport unit 102 itself and/or to the user interface unit 114. In someembodiments, a voice print is used to authorize to use of a motorizedtransport unit 102 to allow voice commands from single user at a time.

Retrieve Abandoned Item Containers: This feature allows the centralcomputer system to track movement of movable item containers in andaround the area of the shopping facility 101, including both the salefloor areas and the back-room areas. For example, using visualrecognition through store cameras 118 or through user interface units114, the central computer system 106 can identify abandoned andout-of-place movable item containers. In some cases, each movable itemcontainer has a transmitter or smart device which will send a uniqueidentifier to facilitate tracking or other tasks and its position usingLED geo-location identification. Using LED geo-location identificationwith the Determining Location feature through smart devices on eachcart, the central computer system 106 can determine the length of time amovable item container 104 is stationary.

Stocker Assistance: This feature allows the central computer system totrack movement of merchandise flow into and around the back-room areas.For example, using visual recognition and captured images, the centralcomputer system 106 can determine if carts are loaded or not for movingmerchandise between the back room areas and the sale floor areas. Tasksor alerts may be sent to workers to assign tasks.

Self-Docking: Motorized transport units 102 will run low or out of powerwhen used. Before this happens, the motorized transport units 102 needto recharge to stay in service. According to this feature, motorizedtransport units 102 will self-dock and recharge (e.g., at a MTU dockingstation 122) to stay at maximum efficiency, when not in use. When use iscompleted, the motorized transport unit 102 will return to a dockingstation 122. In some cases, if the power is running low during use, areplacement motorized transport unit can be assigned to move intoposition and replace the motorized transport unit with low power. Thetransition from one unit to the next can be seamless to the user.

Item Container Retrieval: With this feature, the central computer system106 can cause multiple motorized transport units 102 to retrieveabandoned item containers from exterior areas such as parking lots. Forexample, multiple motorized transport units are loaded into a movabledispenser, e.g., the motorized transport units are vertically stacked inthe dispenser. The dispenser is moved to the exterior area and thetransport units are dispensed. Based on video analytics, it isdetermined which item containers 104 are abandoned and for how long. Atransport unit will attach to an abandoned cart and return it to astorage bay.

Motorized Transport Unit Dispenser: This feature provides the movabledispenser that contains and moves a group of motorized transport unitsto a given area (e.g., an exterior area such as a parking lot) to bedispensed for use. For example, motorized transport units can be movedto the parking lot to retrieve abandoned item containers 104. In somecases, the interior of the dispenser includes helically wound guiderails that mate with the guide member 208 to allow the motorizedtransport units to be guided to a position to be dispensed.

Specialized Module Retrieval: This feature allows the system 100 totrack movement of merchandise flow into and around the sales floor areasand the back-room areas including special modules that may be needed tomove to the sales floor. For example, using video analytics, the systemcan determine if a modular unit it loaded or empty. Such modular unitsmay house items that are of seasonal or temporary use on the salesfloor. For example, when it is raining, it is useful to move a moduleunit displaying umbrellas from a back room area (or a lesser accessedarea of the sales floor) to a desired area of the sales floor area.

Authentication: This feature uses a voice imprint with an attentioncode/word to authenticate a user to a given motorized transport unit.One motorized transport unit can be swapped for another using thisauthentication. For example, a token is used during the session with theuser. The token is a unique identifier for the session which is droppedonce the session is ended. A logical token may be a session id used bythe application of the user interface unit 114 to establish the sessionid when user logs on and when deciding to do use the system 100. In someembodiments, communications throughout the session are encrypted usingSSL or other methods at transport level.

Further Details of Some Embodiments

In accordance with some embodiments, further details are now providedfor one or more of these and other features.

Various embodiments of systems and methods for bringing a shoppingcontainer to a customer in a shopping space are now described. In abroad sense and in accordance with some embodiments, a system isdescribed for bringing a shopping container to a customer in a shoppingspace and comprises a plurality of sensors, a plurality of motorizedtransport units; and a control circuit communicatively coupled to theplurality of sensors and the plurality of motorized transport units. Insome embodiments, the control circuit is configured to: receive ashopping container request from a user interface device associated withthe customer; determine at least one available shopping container amonga plurality of shopping containers based on data collected by theplurality of sensors, the at least one available shopping containerbeing empty and not used by another customer; select an availableshopping container from the at least one available shopping containerbased at least on a location information of the user interface device;select a motorized transport unit from among the plurality of motorizedtransport units to transport the available shopping container; andprovide instructions to the motorized transport unit to bring theavailable shopping container to the customer.

A large number of retail store customers are destination shoppers whoenter a store intending to purchase only a few items that can be carriedin their arms. If a customer should find himself/herself in need of ashopping container (e.g., a moveable item container 104 such asdescribed herein, such as a shopping cart or basket), a motorizedtransport unit (MTU) (such as any of the MTUs 102, 202, 402 describedherein) can be tasked to retrieve one for him/her. This will saveshopping time if the customer is pressed for time or is unable to locateor grab a container. For some customers, this capability would allowthem to buy more merchandise if they are unwilling to backtrack to thefront of the store to get a container, as the MTU would bring one tothem. Additionally, an associate can issue a task assignment to an MTUto move an attachable movable item container from one location toanother.

In some embodiments, an MTU's customer service capabilities includebringing out a shopping container (e.g., cart, basket, or special cart)to someone that needs one (customer, member, associate, colleague orsupplier), then either leave the container, or assist the user inpulling or moving/transporting the container as required. Given thiscustomer or associate request task, the MTU can re-position one or morecontainers, or other retrievable objects, from one location to another.In some embodiments, the MTU and the object to be moved may be fittedwith a special connection “arm” that will allow the MTU to hook on, pullaround a load, and later disconnect. The MTU may be configured torecognize if the shopping container is configured with a connector andmaneuver in order to attach himself Multiple MTUs can work together tofetch multiple shopping containers as part of one request.

In some embodiments, with no additional instruction, an MTU may beconfigured to know where to go to grab a cart or apparatus that has beenrequested. The MTU (and/or the central computer system 106) may be ableto recognize an empty and idle shopping container that can be used. Insome embodiments, the MTU (and/or the CCS 106) may recognize the correcttype of shopping container as requested. If the shopping container typeis not specified, an MTU may select a container type based on othercontextual clues such as the category nearest the customer's location orprevious requests by the same user. In some embodiments, the MTU maypull a shopping container from the container storage area (e.g., a cartcorral), or attach to a loose shopping container.

In some embodiments, it is expected that the MTU will have ongoing lowpriority tasks. Once a task is completed, the MTU will continue toperform other tasks to which it is assigned. For example, the MTU may betasked to look for abandoned shopping containers and return them to thefront of the store (within his designated area). When freed from a priortask, an MTU will roam the surrounding area searching for abandonedshopping containers to retrieve, while listening for requests from thenext customer or associate.

In some embodiments, an MTU “catches up” with the customer once ashopping container has been selected, and bring it to where thecontainer was requested. A button may be placed throughout the store torequest a shopping container. Alternatively, a smart phone app willallow the customer to summons a container. This app will communicatethrough cellular, Wi-Fi, or Bluetooth and relay the customer location toa central computer system so an assigned MTU can catch up. Speaking acommand to an MTU may be a third method of requesting this action.

When a customer makes a “bring me a container” request, in someembodiments, an MTU will re-position one or more containers from onelocation to another. In some embodiments, each MTU includes anindividual name badge, and will accept commands when the name on thebadge is called.

FIG. 6 illustrates a block diagram of an exemplary shopping facilityassistance system 600, similar to that of FIG. 1, as configured inaccordance with various embodiments of these teachings. The shoppingfacility assistance system 600 includes a central computer system 620, aset of sensors 630, and a number of motorized transport units 640 (MTUs640) each configured to attach to and transport movable item containers650 (also referred to as shopping containers). The shopping facilityassistance system 600 may include or be implemented at least partiallywith one or more components shown in FIGS. 1, 4, and 5 or may be moregenerically implemented outside of the embodiments of FIGS. 1, 4 and 5.

The central computer system 620 includes a control circuit 621 and amemory 622, and may be generally referred to as a processor-baseddevice. In some embodiments, the central computer system 620 may beimplemented to include one or more of the central computer system 106and/or the computer device 500 described above. For example, thefunctionalities of the central computer system 620 described herein maybe implemented as a software module in the central computer system 106.

The central computer system 620 has stored on its memory 622, a set ofcomputer readable instructions that is executable by the control circuit621 to cause the control circuit 621 to instruct an MTU 640 to bring anavailable movable item container 650 to a customer in a shopping space.The central computer system 620 may also be configured to determine thelocations of MTUs 640 and movable items containers 650, and determinewhich movable item containers 650 are available for customer use basedon sensor data. In some embodiments, the central computer system 620 maybe located inside of and serve a specific shopping space. In someembodiments, the central computer system 620 may be at least partiallyimplemented on a remote or cloud-based server that provides instructionsto MTUs in one or more shopping spaces.

The central computer system 620 is communicatively coupled to a set ofsensors 630. Sensors 630 may include one or more of optical sensors,image sensors, proximity sensors, the location detection system 116, thevideo camera system 118, and sensors on MTUs 120 described withreference to FIG. 1 above. Generally, the sensors 630 are configured toprovide the central computer system 620 information to determine whetherone or more of the movable item containers 650 are available. Forexample, the sensors 630 may be a set of cameras for providing images ofthe movable item containers 650 to the central computer system 620. Thecentral computer system 620 may analyze the images captured by thecameras and determine how long each movable item container 650 has beenidle and whether the movable item container currently holds any item/s.The cameras may be stationary cameras mounted in the shopping spaceand/or mounted on or integrated with the MTUs and/or user interfacedevices. In some embodiments, the sensors 116 may include one or moresensors attached to a movable item container 650. Sensors attached tomovable item containers 650 may include gyroscope and/or location sensorfor detecting an idle time of the container and weight sensors and/orcameras for determining whether any items have been placed into thecontainer. In some embodiments, movable item containers 650 includesensors for receiving smart LED light transmissions useful to determinethe location of the movable item containers 650. In some embodiments,the sensors 630 may comprise one or more sensors for determining thelocations of MTUs 640. The sensors 630 may communicate with the centralcomputer system through any wired or wireless communication means suchas described herein.

Each motorized transport unit 640 may be the MTU 102 described in FIG.1, the MTU shown in FIGS. 2A-3B, and/or the MTU 402 described in FIG. 4,for example. Generally, an MTU 640 may be a motorized device configuredto transport a movable item container or shopping container through ashopping space according to instructions received from a centralcomputer system 620. In some embodiments, the MTU 402 may include otherinput and output devices such as speaker and microphone forcommunicating with a customer.

The movable item containers 650 may be any conventional shopping carts,shopping baskets, flatbed carts, etc., or may be containers specificallyconfigured to couple with the MTUs 640. Movable item containers 650 usedin the shopping floor by customers may be generally referred to asshopping containers. While shopping carts are illustrated in FIG. 6, insome embodiments, the system may be configured to transport differenttypes of shopping containers such as shopping carts of different sizes,shopping baskets, flatbed carts, shopping carts with child seats,child-friendly shopping trolleys, etc. The central computer system 620may be configured to select a movable item container 650 based on acustomer's requested type of shopping container.

FIG. 7 shows a flow diagram of a process for bringing an availableshopping container to a customer in accordance with various embodimentsof these teachings. The steps shown in FIG. 7 may be performed by one ormore of the central computer system 620 in FIG. 6, the central computersystem 106 in FIG. 1, and the computer device 500 in FIG. 5, forexample. In some embodiments, the steps are performed by aprocessor-based device executing a set of computer readable instructionsstored on a memory device. In some embodiments, one or more of the stepsmay also be performed by a software program, such as an “APP,” runningon a user interface device. Generally, the steps shown in FIG. 7 areperformed by a control circuit of a processor-based device.

In step 710, the control circuit receives a shopping container request.A shopping container request may be made via a user interface devicesuch as user interface unit 114, which may be a customer's personaldevice or a store-owned mobile or stationary device configured tocommunicate with a central computer system. The user interface unit mayinclude a software or hardware button to request a shopping container.In some embodiments, the request may further include a request for aspecific type of shopping container. For example, a customer may requestfor shopping carts of different sizes, shopping baskets, flatbed carts,shopping carts with child seats, child-friendly shopping trolleys, etc.The user interface unit may display the different available options tothe user. In some embodiments, a shopping container request may also bea command spoken. For example, the customer may say to an MTU unit or auser device “bring me a container.” In some embodiments, when theshopping container is requested, the system also determines a locationof the requesting customer and/or device. For example, the userinterface device may pick up smart encoded LED light transmissions asdescribed herein or other location information and provide thatinformation to the system along with the shopping container request. Insome embodiments, a request may be made through a device installed at afixed location, such as a pole, in the shopping space, and the systemmay determine the location of the requesting device based on thedevice's identifying information. In some embodiment, the customer mayspecify a destination location for the shopping container. For example,the customer may request to have a shopping container to be brought topole #12, regardless of the customer's current location.

In step 720, the control circuit determines a plurality of availableshopping containers based on sensor data. Generally, an availableshopping container is a shopping container that is empty and not used byanother customer. In some embodiments, a central computer system maymonitor a plurality of shopping containers in a shopping space for theiravailability. The central computer system may determine whether ashopping container is available based on how long the shopping containerhas been idle and/or whether the shopping container is currently holdingany item/s based on sensor data. In some embodiments, a shoppingcontainer may also be determined to be available if it is in a certainarea. For example, containers in the shopping cart return area, shoppingcart retrieval area, shopping basket stand, etc. may be determined to beavailable regardless of its idle time. In some embodiments, a shoppingcontainer may be determined to be available based on its location andwhether it is empty, without considering its idle time. For example, inthe parking lot areas, any shopping container that is empty may beconsidered to be available regardless how long the container has beenidle. In some embodiments, the idle time threshold may be setdifferently for different areas of the store. For example, the idle timethreshold for areas around the restroom and the deli counter may be setlonger than those in other areas. In some embodiments, the system mayfurther determine a container holding items to be abandoned if a longeridle threshold has passed (e.g. 20 minutes). In such case, the systemmay instruct the MTU and/or an associate to empty the shopping containerto make the container available for other customers.

In some embodiments, the central computer analyzes images captured by acamera system to determine how long each shopping container has remainedat the same location and/or whether the shopping container is empty. Thesystem may determine whether the shopping container is empty bycomparing captured images of the container with stored images of emptycontainers. Such captured and stored images may be taken from one ormore angles (for example, side views, top down views, etc.). The systemmay also calculate the area of visible wire mesh in the images of thecontainer to determine if the container is holding any item. In someembodiment, when the system detects an object in the images that matchesa wire mesh pattern, that object is evaluated to determine thehorizontal size of the object based on its distance from the camerausing geometric algorithm. The system then analyzes the object todetermine if there are objects within the wire mesh. If objects aredetected, the container is removed from the possibility of being empty.In some embodiments, the system may use information from sensorsattached to shopping containers. For example, a shopping container mayhave attached to it, a weight sensor and/or a movement sensor such as agyroscope and location sensors that provide availability data to thecentral system.

In some embodiments, the system may constantly keep track of the stateof each shopping container in the shopping space. For example, thesystem may keep a log of the empty/fill state of each container and theidle time of each container, and periodically mark each tracked shoppingcontainer as being either being in-use, available, or abandoned. Thetracked status of each shopping container may be stored in a shoppingcontainer tracking database. In such embodiments, in step 720, thesystem may retrieve the stored availability information from theshopping container tracking database.

In some embodiments, the availability determination is performedon-the-fly. For example, when the system receives a request from acustomer, the system may first determine the closest shopping containerto the customer that has no movement for at least a set amount of time(e.g. 10 minutes). The movement of the shopping containers may bedetermined based a camera system and/or the data received by smart LEDsensors attached to the shopping containers. Once an idle shoppingcontainer is found, the system retrieves images of the area around theshopping container captured with mounted video cameras in the shoppingspace to find an object matching the shopping container (such as a wiremesh cart). When the shopping container is identified in the cameraimage, the system then determines whether there are objects in theshopping container using image analysis. In some embodiments, the systemmay use previously captured images of the areas to determine whether anidentified empty shopping container has been idle for at least a setamount of time. If a shopping container is determined to be notavailable, then the next closest shopping container may be analyzed bythe system for its availability.

In step 730, the control circuit selects an available shopping containerfrom among the available shopping containers determined in step 720. Theavailable shopping container may be selected based on the location ofthe customer and/or the request user interface device. In someembodiments, the available shopping container that is closest to thecustomer may be selected. In some embodiments, the available shoppingcontainer that can be brought to the customer in the shortest amount oftime may be selected. The time it takes for a shopping container to bebrought to a customer may be estimated based on one or more of thecustomer's location, the customer's projected path of travel, thelocation of the shopping container, the location of the MTU, length ofthe path of travel, congestion conditions of the path of travel, etc.For example, if the closest MTU has an available shopping containernearby, that shopping container may be selected over an availablecontainer just one aisle over from the customer, since the total traveltime for the MTU would be shorter. In some embodiments, the system mayselect a specific type of container from the available containers basedon one or more of user request, user demographic information, storeduser shopping habit, user location, etc.

In step 740, a motorized transport unit is selected. The motorizedtransport unit may be selected from a plurality of MTUs to transport theselected shopping container to the user. In some embodiments, steps 730and 740 are performed sequentially, that is, a shopping container isselected first and then an MTU is selected. For example, the system mayselect an MTU that is closest to the shopping container to transport theshopping container. In other embodiments, step 740 may be performed inconjunction with step 730. For example, the system may select a shoppingcontainer and MTU combination that can deliver a shopping container to acustomer in the shortest amount of time. In some embodiments, if an MTUis already assigned to the customer, the assigned MTU may be selected instep 730. In some embodiments, the selected MTU is the MTU that receivesa verbal command from a customer.

In step 730, the control circuit provides instructions to the MTUselected in step 740 to bring the available shopping container selectedin step 730 to the requesting customer. The instructions may include acurrent location of the shopping container and/or the customer. In someembodiments, the instructions may include route guidance to the shoppingcontainer and then to the customer. In some embodiments, the system maykeep track of the current location of the customer and update theinstruction to the MTU accordingly such that the MTU is able to “catchup” with the customer if the customer continues to move after making therequest in step 710.

Based on the instructions provided in step 750, the MTU selected in step740 would travel to the shopping container selected in step 730,attached itself to the shopping container, and then transport theshopping container to the current location of the customer and/orrequesting device. After the MTU arrives at the customer's locations,depending on customer's selection, the MTU may leave the shoppingcontainer with the customer and be available to perform other tasks, orthe MTU may become assigned to the customer and escort the customerwhile transporting the attached shopping container during the customer'sshopping trip.

In some embodiments, apparatuses and methods are provided herein usefulto bringing a shopping container to a customer in a shopping space. Insome embodiments, a system for bringing a shopping container to acustomer in a shopping space comprises a plurality of sensors, aplurality of motorized transport units, and a control circuitcommunicatively coupled to the plurality of sensors and the plurality ofmotorized transport units. The control circuit being configured to:receive a shopping container request from a user interface deviceassociated with the customer, determine at least one available shoppingcontainer among a plurality of shopping containers based on datacollected by the plurality of sensors, the at least one availableshopping container being empty and not used by another customer, selectan available shopping container from the at least one available shoppingcontainer based at least on a location information of the user interfacedevice, select a motorized transport unit from among the plurality ofmotorized transport units to transport the available shopping container,and provide instructions to the motorized transport unit to bring theavailable shopping container to the customer.

In some embodiments, a method for bringing a shopping container to acustomer in a shopping space comprises receiving, at a control circuit,a shopping container request from a user interface device associatedwith the customer, determining, by the control circuit, at least oneavailable shopping container among a plurality of shopping containersbased on data collected by a plurality of sensors communicativelycoupled to the control circuit, the at least one available shoppingcontainer being empty and not used by another customer, selecting, bythe control circuit, an available shopping container from the at leastone available shopping container based at least on a locationinformation of the user interface device, selecting, by the controlcircuit, a motorized transport unit from among a plurality of motorizedtransport units communicatively coupled to the control circuit totransport the available shopping container, and providing, by thecontrol circuit, instructions from the control circuit to the motorizedtransport unit to bring the available shopping container to thecustomer.

In some embodiments an apparatus for providing a shopping container fora customer in a shopping space comprises a non-transitory storage mediumstoring a set of computer readable instructions, and a control circuitconfigured to execute the set of computer readable instructions whichcauses to the control circuit to: receive a shopping container requestfrom a user interface device associated with the customer, determine atleast one available shopping container among a plurality of shoppingcontainers based on data collected by a plurality of sensorscommunicatively coupled to the control circuit, the at least oneavailable shopping container being empty and not used by anothercustomer, select an available shopping container from the at least oneavailable shopping container based at least on a location information ofthe user interface device, select a motorized transport unit from amonga plurality of motorized transport units communicatively coupled to thecontrol circuit to transport the shopping container, and provideinstructions to the motorized transport unit to bring the availableshopping container to the customer.

In accordance with some embodiments, further details are now providedfor one or more of these and other features and in particular shoppingfacility assistance systems, devices, and methods to support retrievalof a mobile item container.

By one approach the aforementioned central computer system is configuredto identify an unattended mobile item container in the shopping facilityparking lot. The central computer system then directs a particular oneof the aforementioned plurality of motorized transport units through theshopping facility parking lot to the unattended mobile item containerand causes that motorized transport unit to physically attach to theunattended mobile item container. The central computer system thendirects that motorized transport unit through the shopping facilityparking lot with the attached unattended mobile item container to amobile item container receiving area.

By one approach the central computer system identifies a candidatemobile item container in the shopping facility parking lot, at least inpart, based on video information of the shopping facility parking lot.By another approach, in lieu of the foregoing or in combinationtherewith, one or more of the available motorized transport unitsincludes at least one external-environment sensor. The central computersystem is then configured to identify a mobile item container in theshopping facility parking lot as being unattended, at least in part,based on external-environment sensor information provided by such amotorized transport unit. The central computer system can identify amobile item container as being an unattended mobile item container as afunction, at least in part, of whether the mobile item containercontains any items.

These teachings are highly flexible in practice and will accommodate awide variety of modifications and embellishments. As one example offlexibility, by one approach the central computer system is configuredto have the motorized transport unit return the unattended mobile itemcontainer to a shopping cart corral located in the shopping facilityparking lot. By another approach, the central computer system isconfigured to have the motorized transport unit return the unattendedmobile item container to a shopping cart bay located in the shoppingfacility.

As an example of a modification that these teachings will readilyaccommodate, the central computer system can be configured to assess arisk of causing physical damage associated with, for example, having themotorized transport unit approach the unattended mobile item container,attach to the unattended mobile item container, and or move theunattended mobile item container. That physical damage can correspond,for example, to damage to a vehicle, damage to the unattended mobileitem container, and/or damage to the motorized transport unit itself.

So configured, unattended mobile item containers can be readily andquickly identified and returned safely to an appropriate holding and/orstaging area. Suitably employed, these teachings can greatly mitigatethe problems associated with unattended mobile item containers withoutnecessitating a concurrent undue dedication of human resources.

FIG. 8 presents an illustrative process 800 that accords with many ofthese teachings. This process 800 can be carried out by the centralcomputer system 106 described above. For the sake of an illustrativeexample, this description will presume the mobile item container to be astandard wheeled shopping cart. It will be understood, however, that thespecifics corresponding to such an example are not intended to suggestany particular limitations with respect to the scope of these teachings.

Referring to both FIG. 8 and FIG. 9, at block 801 the central computersystem 106 identifies an unattended mobile item container in a shoppingfacility parking lot 901. As presented in FIG. 9, this shopping facilityparking lot 901 is directly adjacent and external to a correspondingshopping facility 101. This shopping facility parking lot 901 may bepaved or unpaved as desired and may be lined to indicate travel lanesand/or parking spaces or not as desired. This shopping facility parkinglot 901 may be wholly dedicated to providing parking spaces forcustomers visiting the shopping facility 101. By another approach, thisshopping facility parking lot 901 may be shared with other shoppingfacilities.

By one optional approach, the central computer system 106 identifiesunattended mobile item containers in the shopping facility parking lot901, at least in part, based on video information 802 of the shoppingfacility parking lot 901. That video information 802 can be provided,for example, by video cameras 118 that are positioned such that at leasta part of the captured field of view includes at least some part of theshopping facility parking lot 901. In such a case the central computersystem 106 can have access to image processing and/or pattern-matchingprograms that facilitate identifying a particular object in a field ofview as comprising a mobile item container 104. Such image processingand pattern matching comprises a known area of prior art endeavor. Asthe present teachings are not particularly sensitive to any particularselections in these regards, further elaboration is not provided hereregarding such techniques.

By another approach, used in combination with the foregoing or in lieuthereof, the central computer system 106 identifies unattended mobileitem containers 104 in the retail store parking lot 901, at least inpart, based on external-environment sensor information 803 provided bythe aforementioned location detection system 116, video cameras 118, orone or more of the plurality of motorized transport units 102. Suchexternal-environment sensor information 803 can be developed, forexample, by an onboard sensor 414 as described above that specificallyserves in these regards. As one simple example in these regards, themobile item containers 104 may be equipped with RFID tags or otherclose-range transponders or transmitters that the aforementionedon-board sensor 414 can detect and provide to the central computersystem 106 as the aforementioned external-environment sensor information803.

By one approach the central computer system 106 identifies whether amobile item container 104 is unattended as a function, at least in part,of whether the mobile item container 104 contains any items. Using thisapproach, the mobile item container denoted by reference numeral 104.1would not be identified as being unattended because this mobile itemcontainer contains three items 902. Conversely, the mobile itemcontainer denoted by reference numeral 104.2 does not contain any itemsand hence qualifies as likely being unattended.

These teachings will accommodate taking other criteria into account aswell when determining whether a given mobile item container constitutesan unattended mobile item container. As one example in these regards, itmay not only be required that the mobile item container be devoid ofitems but also that that state have persisted for at least apredetermined period of time (such as 30 seconds, one minute, fiveminutes, or some other duration of choice) without the movable itemcontainer having moved.

Upon identifying an unattended mobile item container 104.2 in theshopping facility parking lot 901, at block 804 the central computersystem 106 directs a motorized transport 102 (using, for example, theaforementioned wireless network connection or some other communicativechannel of choice) through the shopping facility parking lot 901 to theunattended mobile item container 104.2. By one approach the centralcomputer system 106 simply provides a destination to this motorizedtransport unit 102. By another approach, the central computer system 106provides step-by-step movement instructions to the motorized transportunit 102 to thereby guide the motorized transport unit 102 to thelocation of the unattended mobile item container 104.2.

As noted above the motorized transport unit 102 may have any of avariety of sensors 414. By one approach at least one of the sensors 414is configured to develop location information using externally-sourcednavigation information. As one example in these regards, since theshopping facility parking lot 901 is likely (but not necessarily)substantially uncovered, the motorized transport unit 102 may include asensor 414 comprising, at least in part, a global positioning systemreceiver. So configured, by one optional approach the motorizedtransport unit provides that location information 805 to the centralcomputer system 106 and the central computer system 106 then directs themotorized transport unit 102 through the shopping facility parking lot901 to the unattended mobile item container 104.2 by, at least in part,using that location information 805.

By one approach these teachings will facilitate having the centralcomputer system 106 direct the motorized transport unit 102 to theunattended mobile item container 104.2 via path segments that areintended and determined to avoid likely collisions between the motorizedtransport unit 102 and other objects in the shopping facility parkinglot 901. These teachings will also accommodate halting the assignedmotorized transport unit 102 when changing circumstances in the shoppingfacility parking lot 901 present an undue obstacle. In such a case thecentral computer system 106 can either wait for the pathway to clear orthe central computer system 106 can direct the motorized transport unit102 using a detour. By yet another alternative approach the centralcomputer system 106 can reassign this task to another motorizedtransport unit 102 that will not likely face the same circumstance ofconcern.

As the motorized transport unit 102 approaches the unattended mobileitem container 104.2, by one optional approach and as illustrated atblock 806, the central computer system 106 can assess whether there isany risk of causing physical damage (for example, to a vehicle that isparked in the shopping facility parking lot 901, to the unattendedmobile item container 104.2 itself, or to the motorized transport unit102 itself) when approaching the unattended mobile item container 104.2,when attaching to the unattended mobile item container 104.2, and/orwhen moving the unattended mobile item container 104.2 after beingattached thereto. Such a risk assessment can be based, for example, uponan assessment of the relative dimensions of various objects in thevicinity of the unattended mobile item container 104.2, movementlimitations as correspond to the motorized transport unit 102 and/or theunattended mobile item container 104.2 (such as a relevant turningradius), prevailing relevant weather conditions such as a direction andvelocity of present wind, and so forth.

These teachings will accommodate any of a variety of responses upondetermining a credible risk in these regards. For example, by oneapproach, the central computer system 106 can simply maintain themotorized transport unit 102 in a waiting state to await more favorableretrieval conditions. By another approach the central computer system106 can abort this task and re-task the motorized transport unit 102. Insuch a case the central computer system 106 can also alert a humanassociate such that the human associate can then retrieve the unattendedmobile item container 104.2 with presumably reduced risk of anycorresponding physical damage.

Presuming no more than an acceptable risk, at block 807 this process 800then provides for causing the motorized transport unit 102 to physicallyattach to the unattended mobile item container 104.2 as described above.Once attached, and per block 808, the central computer system 106 thendirects, again via the wireless network connection, the motorizedtransport unit 102 through the shopping facility parking lot 901 withthe attached unattended mobile item container 104.2 to an appropriatemobile item container receiving area. These teachings are quite flexiblein these regards. By one approach the mobile item container receivingarea comprises a shopping cart corral 903 disposed in the shoppingfacility parking lot 901. By another approach, the mobile item containerreceiving area comprises a shopping cart bay 904 located in (or at leastpartially within) the shopping facility 101 itself.

Upon reaching the designated mobile item container receiving area themotorized transport unit 102 then detaches itself from the unattendedmobile item container 104.2. The motorized transport unit 102 thenleaves the mobile item container receiving area for another destination,leaving the unattended mobile item container 104.2 in the mobile itemcontainer receiving area.

So configured, unattended mobile item containers can be reliablyidentified and removed to safer, more useful areas in an automated andefficient manner. As noted above these teachings will accommodate avariety of modifications as desired. As one example in these regards,when the central computer system 106 identifies two unattended mobileitem containers 104 that are nested one in the other in the shoppingfacility parking lot 901, the central computer system 106 can direct atleast two motorized transport units 102 through the shopping facilityparking lot 901 to the two nested unattended mobile item containers 104and cause both of these motorized transport units 102 to attach to thenested unattended mobile item containers 104.3 the central computersystem 106 can then direct both of these motorized transport unitsthrough the shopping facility parking lot 901 with the attached nestedunattended mobile item containers 104 to the aforementioned mobile itemcontainer receiving area.

In some embodiments, a central computer system identifies an unattendedmobile item container in a shopping facility parking lot. The centralcomputer system then directs a motorized transport unit through theretail store parking lot to the unattended mobile item container andcauses that motorized transport unit to physically attach to theunattended mobile item container. The central computer system thendirects that motorized transport unit through the retail store parkinglot with the attached unattended mobile item container to a mobile itemcontainer receiving area.

In some embodiments, a shopping facility assistance system comprises: aplurality of motorized transport units configured to move through ashopping facility parking lot, a central computer system having anetwork interface such that the central computer system wirelesslycommunicates with the plurality of motorized transport units and whereinthe central computer system is configured to: identify an unattendedmobile item container in the shopping facility parking lot, direct aparticular one of the plurality of motorized transport units through theshopping facility parking lot to the unattended mobile item container,cause the particular one of the plurality of motorized transport unitsto physically attach to the unattended mobile item container, anddirect, via a wireless network connection, the particular one of theplurality of motorized transport units through the shopping facilityparking lot with the attached unattended mobile item container to amobile item container receiving area.

In some embodiments, the mobile item container comprises a wheeledshopping cart. In some embodiments, the central computer system isconfigured to identify the unattended mobile item container in theshopping facility parking lot, at least in part, based on videoinformation of the shopping facility parking lot. In some embodiments,at least some of the plurality of motorized transport units include atleast one external-environment sensor and wherein the central computersystem is further configured to identify the unattended mobile itemcontainer in the shopping facility parking lot, at least in part, basedon external-environment sensor information provided by at least one ofthe plurality of motorized transport units. In some embodiments, thecentral computer system is configured to identify a mobile itemcontainer as being an unattended mobile item container as a function, atleast in part, of whether the mobile item container contains any items.In some embodiments, each of the plurality of motorized transport unitsis configured to develop location information using externally-sourcednavigation information. In some embodiments, the central computer systemis configured to direct the particular one of the plurality of motorizedtransport units through the shopping facility parking lot to theunattended mobile item container by using, at least in part, thelocation information as developed by the particular one of the pluralityof motorized transport units. In some embodiments, the mobile itemcontainer receiving area comprises one of: a shopping cart corrallocated in the shopping facility parking lot and a shopping cart baylocated in the shopping facility. In some embodiments, at least one ofthe particular one of the plurality of motorized transport units and thecentral computer system is configured to assess a risk of causingphysical damage associated with at least one of: approaching theunattended mobile item container, attaching to the unattended mobileitem container, and moving the unattended mobile item container. In someembodiments, the physical damage comprises at least one of: damage to avehicle, damage to the unattended mobile item container, damage to theparticular one of the motorized transport units. In some embodiments,the central computer system is further configured to: identify at leasttwo nested unattended mobile item containers in the shopping facilityparking lot, direct at least two of the plurality of motorized transportunits through the shopping facility parking lot to the two nestedunattended mobile item containers, cause both of the at least two of theplurality of motorized transport units to attach to the two nestedunattended mobile item containers, direct the at least two of theplurality of motorized transport units through the shopping facilityparking lot with the attached two nested unattended mobile itemcontainers to a mobile item container receiving area.

In some embodiments, a method comprises, by a central computer system:identifying an unattended mobile item container in a shopping facilityparking lot, directing, via a wireless network connection, a motorizedtransport unit through the shopping facility parking lot to theunattended mobile item container, causing the motorized transport unitto physically attach to the unattended mobile item container, directing,via a wireless network connection, the motorized transport unit throughthe shopping facility parking lot with the attached unattended mobileitem container to a mobile item container receiving area.

In some embodiments, the central computer system is configured toidentify the unattended mobile item container in the shopping facilityparking lot by, at least in part, using video information of theshopping facility parking lot. In some embodiments, the motorizedtransport unit includes at least one external-environment sensor andwherein the central computer system is further configured to identifythe unattended mobile item container in the shopping facility parkinglot by, at least in part, using external-environment sensor informationprovided by the motorized transport unit. In some embodiments, thecentral computer system is configured to identify a mobile itemcontainer as being an unattended mobile item container by, at least inpart, determining whether the mobile item container contains any items.In some embodiments, the motorized transport unit is configured todevelop location information using externally-sourced navigationinformation. In some embodiments, the central computer system isconfigured to direct the motorized transport unit through the shoppingfacility parking lot to the unattended mobile item container by, atleast in part, using the location information as developed by themotorized transport unit. In some embodiments, the mobile item containerreceiving area comprises one of: a shopping cart corral located in theshopping facility parking lot; and a shopping cart bay located in theshopping facility. In some embodiments, at least one of the motorizedtransport unit and the central computer system is configured to assess arisk of causing physical damage associated with at least one of:approaching the unattended mobile item container, attaching to theunattended mobile item container, and moving the unattended mobile itemcontainer. In some embodiments, the physical damage comprises at leastone of: damage to a vehicle, damage to the unattended mobile itemcontainer, and damage to the particular one of the motorized transportunits.

In accordance with some embodiments, further details are now providedfor one or more of these and other features. A system and methoddetermining item availability in a shopping space are provided herein.

It is important for a customer to be able to find an item they wish topurchase in a shopping space. Some items may be expected to always bein-stock, most items may be expected to be out of stock infrequently,and seasonal merchandise may be expected to be out of stock at aparticular point in time. Since an MTU system may have access to iteminventory information, the system may locate various items in the storeand validate that the inventory count matches what is actually on theshelf. If the item cannot be found on the sales floor, a customer willoften ask an associate or leave the store without making the purchase.This creates additional work for an associate (as associates may notknow where the item is himself) and can cost the customer valuableshopping time. It also can leave the customer unsatisfied with theirshopping experience. The customer may go to a competitor location inorder to find the item they are looking for. Since an MTU system maycontinually monitor the inventory, the system can realize when an itemis out-of-tolerance with the records and will notify relevant managementto potentially correct the inventory metrics in order to avoid futureout-of-stock situations.

During a special event (e.g. promotions, sales), an MTU system can bemade aware of all the special event item inventory locations and helpdirect the customer to the item. Additionally, an MTU can notify thecustomer when an item is out of stock and indicate when the item will beback in stock and/or call a receiving associate to fill the shelf withitems in the storage area.

An MTU may include count-it capabilities which may include visuallycounting merchandise, looking up the inventory expected to be on hand,and providing alerts and corrections when discrepancies exist. An MTUwith visual and voice recognition capabilities may be configured toperform this function. An MTU can be tasked to count an item or agrouping of items that can be visually recognized without moving themerchandise. By watching sales and receiving, an MTU system maydetermine the optimum time to count the inventory to provide the highestlevel of accuracy. For example, peak selling timeframes or just after aload of merchandise has been received may not be the ideal time to countitems. The MTU may schedule to count items after a selling rush whenitems are likely to be at the lowest stock level. An MTU may beconfigured to always be searching for an “out of stock” situation andensure that orders are placed to replenish the product as soon aspossible.

In some embodiments, an MTU can be called (or acts as a store telephoneoperator) to answer inventory questions. Example, a customer may ask “doyou have A-brand smartphones?” An MTU may be configured to answer: “Yes,we have the lowest price for the A-brand smartphone. It's one dollarninety-five with a two-year contract. You can find it in the Electronicsdepartment.” After locating an item, the MTU may be configured tosuggest a different item (based on customer knowledge) and suggestpurchasing “cross-sell” item(s). For example, the MTU may say “you mayalso want to check out our large assortment of smartphone cases justbehind the electronics counter.” If the item requested is not in-stock,an MTU may provide information concerning when the next shipment willarrive at the store.

An MTU system with item counting capabilities can function to maintainmore accurate inventory information due to inventory shrink and reducethe occurrence of empty shelves. The system may visually recognize anout-of-stock situation, track inventory of an item at multiple displaylocations (e.g. modular and feature locations), and identify inventorydiscrepancies. The system may also assist customers in locating items tofree up associates to perform other tasks. The system may furtherprovide analytic information to determine items that the store may wantto add to the inventory, items that need additional inventory, itemsthat may need to be relocated, items to features, and an optimum time tocount inventory. The analytic information may also be used to predict afuture out-of-stock situation and change replenishment settings to avoidout-of-stock situations. The system may also provide customers withalternate purchase methods such as buying from another store and buyingon-line.

FIG. 10 illustrates a block diagram of a system 1000 for determiningitem availability as configured in accordance with various embodimentsof these teachings. The system 1000 includes a central computer system1010, an inventory database 1020, and an MTU 1030. The system isconfigured to determine whether an item is out of stock according to theinventory database 1020 and determine whether an item is available forpurchase on the shopping floor based on information gathered by the MTU1030. In some embodiments, the system is further configured to providean “item out of stock” and/or an item unavailable response to a customervia the MTU 1030 and/or a user device. The system 1000 may include ormay be implemented at least partially with one or more components shownin FIGS. 1, 4, and 5 or may be more generically implemented outside ofthe system described with reference to FIGS. 1, 4 and 5.

The central computer system 1010 includes a control circuit 1012, amemory 1013, and a communication device 1011. The central computersystem 1010 may generally be referred to as one or more of aprocessor-based device, a computing device, a server, and the like. Insome embodiments, the central computer system 1010 may be implementedwith one or more of the central computer system 106 and/or the computerdevice 500 described above. For example, the functionalities of thecentral computer system 1010 described herein may be implemented as oneor more software and/or hardware modules in the central computer system106.

The central computer system 1010 has stored on its memory 1013, a set ofcomputer readable instructions that is executable by the control circuit1012 to cause the control circuit 1012 to determine whether an item isin stock based on the inventory database 1020 and determine whether anitem is available for purchase based on information collected by the MTU1030. The memory 1013 may comprise volatile and/or non-volatile computerreadable memory storage device. The central computer system 1010 mayreceive sensor data from the MTU 1030 via the communication device 1011and/or may provide instructions to perform one or more tasks to the MTU1030 via the communication device 1011. The central computer system 1010may also be configured to receive a request for one or more items forpurchase via the communication device 1011. Embodiments of the functionsof the central computer system 1010 in a system for restoring storecondition is described in more detail herein with reference to FIGS.11-12 below.

The MTU 1030 may be the MTU 102 described in FIG. 1, the MTU shown inFIGS. 2A-3B, and/or the MTU described in FIG. 4. Generally, an MTU maybe a motorized device having a control circuit 1032, a wirelesstransceiver 1031, a sensor device 1033, a motorized wheel system 1034,and a user interface device 1035. The MTU 102 may generally beconfigured to travel in a shopping space and perform one or more tasksaccording to instructions received from a central computer system 1010.

The control circuit 1032 of the MTU 1030 may be configured to receive anitem request from a customer via the user interface device 1035. The MTU1030 may forward the item request to the central computer system 1010via the wireless transceiver 1031 to determine whether the item isin-stock based on the inventory database. In some embodiments, an itemrequest may be received directly by the central computer system via auser interface device separate from the MTU 1030. For example, acustomer may enter an item request via a portable user device and/or anin-store kiosk. The control circuit 1032 may also be configured toreceive an item display location from the central computer system 1010via the wireless transceiver 1031, cause the motorized wheel system 1034to travel to the display area of the requested item, and use the sensordevice 1033 to detect whether the item is available in the display spacebased on instructions received from the central computer system 1010. Insome embodiments, the control circuit 1012 may be further configured toprovide an “item out of stock” and/or an item unavailable response tothe customer via the user interface device 1035 based on instructionsreceived from the central computer system 1010.

The wireless transceiver 1031 may be any wireless communicationtransceiver such as Wi-Fi transceiver, Bluetooth transceiver, a localnetwork transceiver, and the like. The motorized wheel system 1034 mayinclude and/or be similar to the motorized wheel system 410 describedherein. The user interface device 1035 may include one or more of adisplay screen, a touch screen, a speaker, a voice sensor, an opticalsensor, and the like. Generally, the user interface device 1035 mayinclude any input/output device configured to provide information to andreceive input from users.

The sensor device 1033 may include one or more of an image sensor, anoptical machine readable code reader (e.g. barcode reader), a radiofrequency identification (RFID) reader, a temperature sensor, etc. Insome embodiments, the sensor device 1033 may include one or more of thesensors on MTUs 102 described with reference to FIG. 1 above. The sensordevice 1033 may be configured to collect one or more of an image of thedisplay space, a three-dimensional scan of the display space, a barcodescan, a radio frequency identification (RFID) scan, an environmentaltemperature of the display space, etc.

The inventory database 1020 may be a non-transitory memory storage thatstores one or more inventory information of a plurality of items. Theinventory database 1020 may be coupled to the central computer system1010 through one or more of local, remote, cloud-based, wired, andwireless connections. In some embodiments, the inventory database may beat least partially implemented on one or more of the memory 1013, thedatabase 126, the memory 110, the memory 408, and the memory 504described herein. The inventory database may have stored upon it aplurality of item identifiers (product name, product type, barcode, RFIDtag, etc.) and an estimated quantity of each item in the storeinventory. For example, an inventory entry may be created when a newitem is added to the store, and the inventory count may be incrementedwhen a shipment is received and decremented when items are sold or lost.

FIG. 11 shows a flow diagram of a method for determining itemavailability in a shopping space in accordance with various embodimentsof these teachings. The steps shown in FIG. 11 may be performed by oneor more of the central computer system 1010 in FIG. 10, the centralcomputer system 106 in FIG. 1, and the computer device 500 in FIG. 5,for example. In some embodiments, at least some steps in FIG. 11 may beperformed by a control circuit on an MTU and/or a user device. In someembodiments, the steps are performed by one or more processor-baseddevice executing a set of computer readable instructions stored onmemory device(s).

In step 1110, the system receives a request for an item for purchasefrom a customer. In some embodiments, the request for the item forpurchase comprises one or more of: a verbal command issued to themotorized transport unit, a shopping list entered at a user interfacedevice, and an item selected through the user interface device. Forexample, a customer may say to an MTU “where can I find some scissors?”or “do you have A-brand peanut butter?” In some embodiments, the usermay enter a list of items they wish to purchase prior or during theirvisit to the store. The shopping list may be used by an MTU to escortthe customer through the shopping space on a system determined route.The system may consider each item entered into the shopping list as arequest for an item in step 1110. In some embodiments, steps 1110 and1115 may be performed prior to determining a route for the customer. Insome embodiments, steps 1120 and 1130 may be performed prior or duringthe customer's shopping trip. In some embodiments, the item request maybe for an item type or item category (e.g. olive oil, dill pickles,etc.) and/or a specific product (e.g. A-brand canned tuna, half-gallonB-brand organic milk, etc.).

In step 1113, the system queries an inventory database to determinewhether the item requested in step 710 is in stock. The inventorydatabase may have stored upon it a plurality of item identifiers(product name, product type, barcode, RFID tag, etc.) and an estimatedquantity of each item in the store inventory. The recorded quantity inthe inventory database may be based on monitoring, receiving, and salesof each item. In some embodiments, if the item request in step 1110identifies an item type or category that includes multiple unique items,the system may check the in-stock status of each item matching the typeor category. For example, if the item request specifics C-brand toiletpaper, the system may query the inventory for all variants of C-brandtoilet paper (e.g. 2-ply, 4-ply, 12-count, 24-count, etc.).

If the requested item is out of stock according to the inventorydatabase, in step 1115, the system determines an out of stock responseto present to the customer. In some embodiments, the out of stockresponse may be selected from one or more of: recommending analternative item, providing an alternative store location, and providingan online purchase user interface. For example, if 12 oz. D-brand BBQflavored chips are out of stock, the system may recommend one or moreitems of different packaging (e.g. family-size), a different variant(e.g. low fat, low sodium, ranch flavored etc.) a different brand (e.g.E-brand), and/or a substitute item (e.g. corn chips). In anotherexample, the system may query the inventory of other nearby stores andsuggest an alternate store location that the customer can purchase therequested item. In yet another example, the system may determine whetherthe item is available for purchase online and present the user with anoption to purchase the item online (e.g. send a link to the product, addthe product to the user's online shopping cart). In some embodiments,the system may select from one or more of the out of stock responsesbased on one or more of the customer's shopping history, item type, itemavailability in another store, distance to the alternate store, itemavailability for online purchase, etc. For example, if the customer islooking for organic milk, and the store has no organic milk in stock,the system may suggest a nearby store to the customer as theout-of-stock response. In another example, if the customer had purchasedvarious brands of the same type of product in the past, indicating noparticular brand royalty, the system may suggest an alternative brand.In some embodiments, the out of stock response may be presented to thecustomer via one or more of an MTU or user interface unit that receivedthe request for an item for purchase in step 1110 and/or an MTUescorting the customer.

In some embodiments, if the item request identifies an item type orcategory that includes multiple unique items, the out of stock responsemay be presented only if all items in the type or category are out ofstock. In some embodiments, if one or more items in the type or categoryare in stock, the system may present each in-stock item as a purchaseoption to the customer. The selected item for purchase may be used asthe requested item in step 1120.

If the requested item is in stock according to the inventory database instep 1113, in step 1120 the system instructs an MTU to travel to adisplay space corresponding with the requested item. The display spacemay include the display module, shelf, case, bin, etc. that presents therequested item for purchase by customers. In some embodiments, thesystem may identify the display space corresponding to the requesteditem based on one or more of the inventory database and a store layoutmap. In some embodiments, an item may be displayed at two or morelocations in a shopping space. The system may select one of the displayspaces based on one or more of customer location, MTU location, expecteddisplay quantity, etc. The MTU instructed in step 1120 may the MTU thatreceived the item request and/or an MTU that has been assigned to escortthe requesting customer, or a separate MTU that was on initially onstand-by or assigned to another task. The system may instruct the MTU totravel to the display space according to the MTU navigation andmaneuvering means described herein including using the geolocationbeacons sensor on the MTU to determine the location of the MTU withinthe shopping space.

In step 1125 the system determines whether the item is available in thedisplay space based on information captured by one or more sensors ofthe MTU. Due to shrinkage, damage, lost, and misplacement, items thatare indicated as being in-stock in the inventory database may not alwaysbe available for purchase on the sales floor. The MTU instructed in step1120 may include one or more of an optical sensor, an image sensor, aradio frequency identification (RFID) scanner, an optical code scanner,a temperature sensor, etc. The information captured by the one or moresensors of the MTU comprises one or more of an image of the displayspace, a three-dimensional scan of the display space, a barcode scan, anRFID scan, and an environmental temperature of the display space. Thesystem may determine whether the item is available in the display spaceis based one or more of a presence of the item, an appearance of theitem, an expiration date of the item, an appearance of the display area,and a storage environment of the item. In some embodiments, the systemmay capture an image of the display space using an image sensor on theMTU to determine whether the item is in the display space. In someembodiments, the system may scan for RFID tags around the area of thedisplay space to determine whether a requested item is in the displayspace. In some embodiments, the MTU may scan for a visible or invisibleexpiration date code/stamp on the requested item. Even if the item ispresent, the system may determine that the item is unavailable becauseit is past its expiration date. In some embodiments, the MTU may use atemperature sensor to measure a temperature in or around the displayarea. Even if the item is present, the system may determine that theitem is unavailable because the storage condition is out of tolerance(e.g. storage temperature is too high for ice cream). In someembodiments, the system may analyze an image of the product in thedisplay area to determine whether the product is damaged (e.g. containsdents or stains). If only damaged products are in the display area, thesystem may determine that no items are available for purchase in thedisplay area. In some embodiments, if one or more items are detected tobe expired or damaged, or the storage condition is found to be out oftolerance, the system may generate a task for an MTU and/or a storeassociate to remove the item(s) and/or address the issue.

If the requested item is not available in the display space in step1125, the system may determine an item unavailable response in step1127. In some embodiments, the item unavailable response comprisesquerying a back storage area for the item for purchase. If the item forpurchase is available in the back storage area, the system may notifythe customer and generate a task instruction for an MTU and/or a storeassociate to retrieve the item from the back storage area. In someembodiments, the item unavailable response comprises determining whetherthe item for purchase is displayed in an alternative display space. Ifthe item is displayed in another display area, the system may instructthe MTU to travel to the alternative display space and the process mayreturn to step 1120. In some embodiments, the item unavailable responsecomprises one or more of recommending an alternative item, providing analternative store location, and providing an online purchase userinterface. In some embodiments, the item unavailable response mayinclude the same or similar responses as the out of stock responsedescribed with reference to step 1115 herein. In some embodiments, theitem unavailable response may be presented to the customer via one ormore of the MTU instructed in step 1120, an MTU or user interface unitthat received the request for an item for purchase in step 1110, and/oran MTU escorting the customer. In some embodiments, if the item isunavailable, the information may be relayed to the inventory system toupdate inventory information. In some embodiments, if the item is notavailable in the display space, the system may generate a restock taskinstruction to an MTU and/or a store associate. For example, the taskmay include bringing items out form the back room to place on theshelves and/or to order more items from the supplier.

If the item is available for purchase in the display space, in step1130, the system may present an item available response to the customer.An item available response may include one or more of, altering thecustomer that the item is available for purchase, offering to retrievethe item for the customer, suggesting cross-sell item(s), and offeringcheckout options. In some embodiments, the item available response maybe to return to step 1110 with the next item on the customer's shoppinglist as the requested item.

FIG. 12 is an illustration of a process for monitoring for modularcompliance with MTUs. In some embodiments, the steps in FIG. 12 may beimplemented by one or more components of the systems shown in FIG. 1 andFIG. 10. In some embodiments, the central computer and the MTU in FIG.12 share “intelligence” in that they are in constant communication anddata sharing. Therefore, one or more steps described to be performed bythe MTU may be performed by the central computer and vice versa.

In step 1251, the customer makes a request for an item by asking thesystem “do you have my item?” via one or more of an MTU, a userinterface device, a portable user device, and a store associate. In step1242, the MTU checks whether the requested item is in stock based on theinventory. The MTU may determine whether the requested item is in theinventory by looking up inventory that is expected to be on-hand in step1243. If the item is in stock, in step 1241, the MTU may further offercross-sell options, such as recommending alternate and/or complementaryitems. In step 1246, the MTU determines whether the requested item is onthe shelf in the shopping space. The determination in step 1246 may bebased on visually counting items in step 1245. In some embodiments, theMTU also determines an optimal time to count items in step 1245. Theoptimal time may correspond to a time that the stock is likely to be lowsuch as, for example, right after a selling rush. If the item isavailable on the shelf, the MTU provides item location to the customerin step 1247.

In step 1244, the MTU system compares on-shelf availability with theexpected availability of the item and determines whether the item isactually out of stock. The information determined in steps 1242, 1246,and 1244 may be used to determine whether the item availability is outof tolerance with the inventor records by the central computer in step1232. For example, whether the on-shelf availability matches theinventory record. In step 1231, the central computer recognizesinventory discrepancy based on the out of tolerance situation identifiedin step 1232. The inventory discrepancy information may also be used topredict future out of stock situations in step 1231. For example, apercentage of likely shrink or lost may be determined for the productand applied to further inventory calculations. In step 1211, theinventory management system uses the information determined in steps1231 and 1232 to change replenishment settings and place orders foritems accordingly. The inventory management system may further modifyinventory modular plan and item locations in step 1212.

In step 1221, the notification in step 1232 may cause a task to begenerated for a store associate to correct the on-shelf unavailabilityof the item. In step 1233, the central computer system may providereplenishment status (e.g. “a shipment of organic milk will arrivetomorrow”) or offer an alternative item or purchase option to thecustomer.

In some embodiments, apparatuses and methods are provided herein usefulfor determining item availability in a shopping space. In someembodiments, a computer-implemented method for determining itemavailability in a shopping space comprises receiving, at a controlcircuit, a request for an item for purchase from a customer, querying,by the control circuit, an inventory database to determine whether theitem for purchase is in stock, in an event that the item for purchase isnot in stock according to the inventory database: determining, at thecontrol circuit, an out of stock response to present to the customer; inan event that the item for purchase is in stock according to theinventory database: instructing, by the control circuit, a motorizedtransport unit to travel to a display space in the shopping spacecorresponding to the item for the purchase; determining, at the controlcircuit, whether the item is available in the display space based oninformation captured by one or more sensors of the motorized transportunit; and in an event that the item for purchase is not available in thedisplay space: determining, at the control circuit, an item unavailableresponse to present to the customer.

In some embodiments, the request for the item for purchase comprises oneor more of: a verbal command issued to the motorized transport unit, ashopping list entered at a user interface device, and an item selectedthrough the user interface device. In some embodiments, the out of stockresponse comprises one or more of: recommending an alternative item,providing an alternative store location, and providing an onlinepurchase user interface. In some embodiments, the information capturedby the one or more sensors of the motorized transport unit comprises oneor more: an image of the display space, a three-dimensional scan of thedisplay space, a barcode scan, a radio frequency identification (RFID)scan, and an environmental temperature of the display space. In someembodiments, the determining of whether the item is available in thedisplay space is based one or more of: a presence of the item, anappearance of the item, an expiration date of the item, an appearance ofthe display space, and a storage environment of the item. In someembodiments, the item unavailable response comprises querying a backstorage area for the item for purchase. In some embodiments, in an eventthat the item for purchase is available in the back storage area,generating, at the control circuit, a task instruction to retrieve theitem from the back storage area. In some embodiments, the itemunavailable response comprises determining, at the control circuit,whether the item for purchase is displayed in an alternative displayspace and instructing the motorized transport unit to travel to thealternative display space. In some embodiments, the item unavailableresponse comprises one or more of recommending an alternative item,providing an alternative store location, and providing an onlinepurchase user interface. In some embodiments, in the event that the itemis not available in the display space, generating a restock taskinstruction.

In some embodiments, a system for determining item availability in ashopping space comprise: a communication device configured tocommunicate with a motorized transport unit, an inventory databasestoring inventory information of a plurality of items available forpurchase in the shopping space, and a control circuit coupled to thecommunication device and the inventory database. The control circuitbeing configured to: receive a request for an item for purchase from acustomer, query the inventory database to determine whether the item forpurchase is in stock, in an event that the item for purchase is not instock according to the inventory database: determine an out of stockresponse to present to the customer, in an event that the item forpurchase is in stock according to the inventory database: instruct themotorized transport unit to travel to a display space in the shoppingspace corresponding to the item, determine whether the item is availablein the display space based on information captured by one or moresensors of the motorized transport unit, and in an event that the itemis not available in the display space: determine an item unavailableresponse to present to the customer.

In some embodiments, the request for the item for purchase comprises oneor more of: a verbal command issued to the motorized transport unit, ashopping list entered at a user interface device, and an item selectedthrough the user interface device. In some embodiments, the out of stockresponse comprises one or more of: recommending an alternative item,providing an alternative store location, and providing an onlinepurchase user interface. In some embodiments, the information capturedby the one or more sensors of the motorized transport unit comprises oneor more: an image of the display space, a three dimensional scan of thedisplay space, a barcode scan, a radio frequency identification (RFID)scan, an appearance of the item for purchase, and an environmentaltemperature of the display space. In some embodiments, the item isavailable in the display space is determined based one or more of: apresence of the item, an appearance of the item, an expiration date ofthe item, an appearance of the display space, and a storage environmentof the item. In some embodiments, the item unavailable responsecomprises: querying a back storage area for the item for purchase. Insome embodiments, in an event that the item for purchase is available inthe back storage area, the control circuit further generates a taskinstruction to retrieve the item from the back storage area. In someembodiments, the item unavailable response comprises: determiningwhether the item for purchase is displayed in an alternative displayspace and instructing the motorized transport unit to travel to thealternative display space. In some embodiments, the item unavailableresponse comprises: one or more of recommending an alternative item,providing an alternative store location, and providing an onlinepurchase user interface. In some embodiments, in the event that the itemis not available in the display space, the control circuit furthergenerates a restock task instruction.

In some embodiments, an apparatus for determining item availability in ashopping space comprises: a wireless transceiver configured tocommunicate with a central computer system, a motorized wheel system, auser interface device, a sensor, a control circuit coupled to thewireless transceiver, the motorized wheel system, the user interfaceunit, and the sensor. The control circuit being configured to: receive arequest for an item for purchase from a customer via the user interfacedevice, forward the request for the item to the central computer system,in an event that the item for purchase is not in stock according to aninventory database coupled to the central computer system: present anout of stock response from the central computer system to the customervia the user interface device, in an event that the item for purchase isin stock according to the inventory database: travel to a display spacein the shopping space corresponding to the item in the shopping spaceusing the motorized wheel system, collect information relating whetherthe item is available in the display space using the sensor, transmitthe data to the central computer system, and present an item unavailableresponse to the customer via the user interface device in an event thatthe item is not available in the display space: travel to a displayspace in the shopping space corresponding to the item in the shoppingspace using the motorized wheel system, collect information relatingwhether the item is available in the display space using the sensor,transmit the information to the central computer system, and present anitem unavailable response to the customer via the user interface devicein an event that the item is not available in the display space.

In accordance with some embodiments, systems, apparatuses, processes andmethods are provided herein that allow the motorized transport units totravel through the shopping facility while limiting congestion, inreduced time, while limiting potential conflicts and/or contact withcustomer, and other such advantage by providing alternate travel routesthat are typically not available to at least customers.

Some embodiments provide an elevated track system that providesalternate tracks on and/or through which the motorized transport unitscan travel. The elevated track system can include tracks that arepositioned such that the tracks do not interfere with movement ofcustomers through the sales floor. In some implementations, some or allof the tracks of the track system can include tracks that are positionedelevated above a sales floor, and typically above shelves, modulars,racks and products distributed over at least a portion of the salesfloor of a shopping facility. Additionally or alternatively, the tracksystem may include one or more tracks that are below typical flooring(such as the sales floor), routed through sub-levels below a sales floor(e.g., basements, parking structures, etc.), inside structures (e.g.,walls, shelving, between shelves, and the like), and/or other areas orspace of the shopping facility, such as space that is typically not usedor underutilized.

FIG. 13 shows a simplified overhead view of an exemplary elevated tracksystem 1300 within a shopping facility 1301, in accordance with someembodiments. The elevated track system includes one or more tracks 1304,routes, avenues, tubes, ducts, and other such structures (and typicallya series of track) that traverse across areas of the shopping facility,and one or more chutes 1306, ramps, hoists, elevators, and/or other suchaccess nodes, which are typically distributed across the shoppingfacility. In some embodiments, one or more of the tracks 1304 areelevated above the shelves and other product support structures of theshopping facility. Further, one or more of the tracks may be above adrop down ceiling such that those one or more tracks are not visiblefrom the floor. One or more tracks can be interconnected to establish anetwork of tracks that can be accessed by multiple motorized transportunits allowing the motorized transport units to quickly and easilytraverse areas of the shopping facility.

FIG. 14 illustrates some embodiments of an exemplary elevated track 1304of an elevated track system positioned above one or more shelving units1400, modulars, and other such product support units. In this example, achute 1306 is further illustrated as being cooperated with the elevatedtrack 1304 and extending between the elevated track and the sales floor.Referring to at least FIGS. 13 and 14, the central computer system cantake advantage of the elevated track system to move motorized transportunits through the shopping facility to areas where one or more tasks areto be performed.

The chutes 1306 allow the motorized transport units to access and exitthe elevated track system 1300. As such, the one or more chutes can bestrategically positioned throughout the shopping facility to allow themotorized transport units to easily and quickly access the elevatedtrack system. The positioning of the chutes can further reduce thedistance motorized transport units have to travel through the shoppingfacility to gain access to the elevated track system, which in partreduces traffic in the shopping facility and can improve deployment ofthe motorized transport units. In some instances, one or more chutes arepositioned proximate areas where it is anticipated a relatively largenumber of motorized transport unit tasks are expected and/or wheremotorized transport units are to be directed (e.g., near a shopping cartbay where customer retrieve carts, near docking stations, near equipmentwith which the motorized transport units are configured to cooperate inperforming one or more tasks, and other such areas). The chutes are eachcooperated with one or more of the tracks and configured to provide apassage for one or more of the motorized transport units between theseries of elevated tracks and the floor.

As illustrated in FIG. 14, in some embodiments, a chute 1306 may bepositioned at least partially within a shelving unit, end cap 1406(illustrated as partially transparent), or other structure. This allowsthe chute to be positioned in areas of the shopping facility and takingadvantage of the area that is already occupied by the end cap orshelving structure. This can further limit the use of floor space forthe chute that can be utilized for other purposes. Similarly, one ormore chutes may be located in areas that are not readily usable, such asin corners or other such areas. In some embodiments, the chutes and thecooperated shelving structure and/or end cap 1406 can allow a motorizedtransport unit to travel under the end cap or shelving unit, through adoor in the end cap or shelving unit, and/or allow the motorizedtransport unit to access and exit the chute. In other implementations,the chutes are not enclosed in a structure allowing motorized transportunits ready access to the chutes. Some implementations include doors orother barriers that open in response to a motorized transport unitrequest and/or instructions from the central computer system. The doorprevents children or others from playing with the chutes or otherwiseinterfering with the use of the chutes.

The chutes can be substantially any relevant structure that can allowthe motorized transport units to move between the floor and the elevatedtrack system. In some implementations, one or more chutes are configuredsuch that the motorized transport units move themselves up and down thechutes. For example, one or more channels or tracks can be included oneor more and typically at least two channels formed therein to receivecorresponding parts of each motorized transport unit that passes throughthe at least one chute. For example, in some embodiments, the motorizedtransport units include one or more guide members 208, pegs, hooks,latches, etc., that can cooperate with channels of a chute. By extendingand retracting the motorized transport units can move themselves up anddown the chutes. Such movement is further described in U.S. ProvisionalApplication No. 62/175,182, filed Jun. 12, 2015, entitled Method andApparatus for Transporting a Plurality of Stacked Motorized TransportUnits, which is incorporated herein by reference in its entirety. Chutescan be configured in a vertical orientation, angled, helical,switch-back, or other configurations. Similarly, chutes can includeramps that allow the motorized transport units to drive themselves upand down. The chutes may have a circular cross-section, a squarecross-section or other shape. Chutes, in some embodiments, may includecompressed air cushioning, or other cushioning. The cushioning may allowmotorized transport units to travel down the chutes at faster rates thanthey travel up.

In some embodiments, one or more chutes may additionally oralternatively include one or more lift systems that move the motorizedtransport units between the elevated track system and the floor, or helpthe motorized transport units in moving between the track system and thefloor. For example, a chute can include an elevator or dumbwaitersystem, a cable system that is cooperated with a motor, one or moreconveyors (e.g., that move along a vertical wall and with which theguide members engage), and other such lift systems. For example, thecable system, in some implementations, can include one or more latches,hooks, magnets, other such coupling structure, or a combination of twoor more of such structures. When activated the cable system (or otherlift system) can raise or lower the motorized transport unit. The liftsystem can be controlled by the central computers system and/oractivated by the motorized transport unit once in position (e.g., byextending to press a switch, lever, etc.).

One or more transfer systems may be included with the chute and/orcooperated with the chutes to help move the motorized transport unitbetween the chute and the track. For example, a platform may be movedunder the motorized transport unit upon reaching a top of the chuteallowing the motorized transport unit to move out of the chute, andsimilarly be activated when the motorized transport unit attempts to usethe chute to exit the elevated track system. An arm may be configured toswing to engage the motorized transport unit and move the motorizedtransport unit between the track and the chute. A false or movable floormay be cooperated with the chute that is activated when the motorizedtransport unit is moving between the chute and the track. In otherimplementations, the motorized transport unit may cooperate with achannel or other structure that allows the motorized transport unit toslide out of the chute. Other systems may be used to move the motorizedtransport unit between the chute and the track system. The transfersystem may be activated by the motorized transport unit (e.g., uponapproaching the chute when exiting the track system, pushing a button ormoving a lever upon reaching or approaching the top of a chute, etc.),activated by the chute (e.g., based on timing), or may be activated bythe central computer system (e.g., based on tracking a location of themotorized transport unit, receiving a communication from an motorizedtransport unit requesting transfer, etc.).

The tracks 1304 are configured to allow the motorized transport units totravel along the tracks at desired speeds, and often at maximum speedbecause there is no concern of interfering with customers or bumpinginto carts or other devices on the floor. Further, in someimplementations, the central computer system tracks the motorizedtransport units and can avoid collisions between motorized transportunits. In some embodiments, one or more tracks or portions of one ormore tracks may be configured to allow a first motorized transport unittraveling on the elevated track to pass a second motorized transportunit traveling on the same elevated track. In some implementations, thetrack has sufficient width or a portion of a track may have sufficientwidth to provide effectively two or more lanes, which can be used foropposite directions allowing motorized transport units to pass eachother going opposite directs, and/or allow a faster motorized transportunit to pass a slower motorized transport unit traveling in the samedirection. One or more track can alternatively or additionally beconfigured with at least a section that has one or more levels allowingmotorized transport units to pass each other (whether traveling inopposite or the same direction). One or more ramps may cooperatedifferent tracks and/or different levels of a track.

The track system may further include diverter sections, merge areas(e.g., roundabouts, intersections, etc.), multiple lanes (e.g., in hightraffic areas), and the like. Multiple lane sections may reduce to asingle lane for relatively low traffic areas, areas of limited space,etc. Further, the track system and individual tracks can have inclines,declines and the like (e.g., when there are areas where there is no dropceiling). One or more of the tracks and/or portions of one or moretracks may be suspended from a roof, support beams, joists, and/or othersuch structure. Additionally or alternatively, one or more tracks and/orportions of one or more tracks may be supported by beams, joists and/orother such structures. Some embodiments may additionally include tracksand/or chutes that lead to outside areas of the shopping facility (e.g.,loading areas, parking structure, parking lots, etc.).

The tracks may be made from substantially any relevant materials thatcan support the weight of the motorized transport units intended toutilize the elevated track system. In some implementations, one or moretracks and/or portions of tracks may further include conveyors that movethe motorized transport units over those portions of the tracks. In someembodiments, portions of the track system include vibration and/or noisedampening components (e.g., rubber washers, cushioning, rubber on thetracks, insulation dampening, and the like). Further, wind disturbancebased on movement of motorized transport units may be taken intoconsideration (e.g., with wind guards, tunnels, etc.). In someimplementations, one or more tracks can include gutters or other dirtcatches to prevent dirt build-up and/or dirt from dropping down from thetracks. Further, one or more vacuum systems or other cleaning systemsmay cooperate with and be driven by one or more motorized transportunits to clean the tracks and other parts of the track system.Additionally, some implementations include additional safety features tolimit or prevent things falling from the track system (e.g., netting,tarps and the like under tracks that extend across areas people arewalking.

One or more sensors, cameras, monitoring equipment, and the like can becooperated with the elevated track system that can provide the centralcomputer system with information about the elevated track system and themotorized transport units on and traveling along the track system. Suchsensors can include distance sensors, RFID sensors, light sources of thelocation detection system 116, and/or other such sensors. The sensorinformation is provided to the central computer system to allow thecentral computer system to track motorized transport units, track theoperation of the track system, detect potential problems and the like.Further, the motorized transport units can communicate sensor datadetected by sensors of the motorized transport units can be communicatedfrom the motorized transport units to the central computer systemproviding the central computer system with more information about thestate of operation of one or more motorized transport units and thetrack system.

FIG. 15 illustrates some embodiments of a portion of an exemplaryelevated track 1304 of an elevated track system 1300 that include one ormore staging areas 1308. Referring to at least FIGS. 13 and 15, in someembodiments, the track system 1300 may be configured to maintainmotorized transport units on the track system while motorized transportunits are idle and awaiting to be directed to perform a task by thecentral control system. As such, in some configurations of the elevatedtrack system includes one or more staging areas 1308, which can includeT-junctions 1310, extensions 1312, launch pads, other such areas, or acombination of two or more of such areas. The staging areas 1308cooperate with and extend from one or more tracks, and are configured toreceive one or more motorized transport units 102 that are idle and/orawaiting instructions from the central computer system. The centralcomputer system can direct the motorized transport unit to move into thestaging area. Again, the staging areas allow the one or more motorizedtransport units to be maintained in the elevated track system withoutinterfering with one or more other motorized transport units as theytravel along the series of elevated tracks. The motorized transportunits are directed by the central computer system to move from the trackto the staging area so that the tracks are freed up to allow othermotorized transport units to travel along the tracks. Similarly, in someembodiments, one or more motorized transport units may be positioned orstaged within a chute 1306, such as on the shopping floor and in thechute as an additional staging area while the motorized transport unitis idle. This allows the motorized transport unit to be out of the wayuntil deployed to perform or assist with a task. The motorized transportunit can be moved out from the chute when another motorized transportunit needs to use the chute.

The staging areas can be positioned at substantially any location withinthe elevated track system. Often the staging areas are strategicallypositioned in areas where relatively large numbers of motorizedtransport unit tasks are expected, near chutes, or other such locations.In some embodiments, one or more of the elevated staging areas caninclude one or more charging stations each configured to electricallycouple with any one of the multiple motorized transport units and chargea rechargeable battery of the coupled motorized transport unit.

The use of the staging areas may be controlled by the central computersystem based on a first-in-first-out schedule, based on capabilities ofthe motorized transport units in the staging area and one or more tasksto be performed, based on stored power levels of the motorized transportunits, other such factors, or a combination of two or more of suchfactors. A staging area, in some implementations, may include aconveyor, rotating platform 1314, or other such mechanism for moving themotorized transport units through the staging area. When chargingstations are incorporated with such staging areas, the charging stationsand/or electrical coupling to the charging station may travel with theconveyor, rotating table, or the like.

In some implementations, a staging area may be configured to allowmotorized transport units to move itself into the staging area.Additionally or alternatively, the staging area may vertically stack twoor more motorized transport units. For example, a staging area may beconfigured similarly to a dispensing unit as described in U.S.Provisional Application No. 62/175,182, which is incorporated herein byreference in its entirety.

Again, the central computer controls the movements of the motorizedtransport units, including directing the motorized transport units toenter or leave the elevated track system, as well as routing themotorized transport units through the elevated track system. In someembodiments, the central computer system communicates routinginstructions to the multiple motorized transport units directing the oneor more motorized transport units along one or more tracks of the seriesof elevated tracks in moving to respective desired destinations withinthe shopping facility. Further, the central computer system typicallytracks locations of each of the multiple motorized transport units, andcooperatively coordinates the movements of the multiple motorizedtransport units as they travel along the series of elevated tracks,chutes, and the sales floor. In controlling movement of one or moremotorized transport units, the central computer system, in someinstances, identifies a location where a motorized transport unit isdesired to perform a task, and identifies a relevant motorized transportunit, of the multiple motorized transport units, intended to be directedto the identified location to perform the task. Based on a location ofthe identified motorized transport unit and the location of the task,the central computer system can determine routing instructions thatinclude directions along one or more of the elevated tracks of theseries of elevated tracks that the motorized transport unit is to followin moving to the identified location of the task. The routinginstructions can then be communicated to the motorized transport unit tocause the motorized transport unit to implement the instructions inmoving itself along the elevated track system and shopping facility toreach the task location. Again, by utilizing the track system, themotorized transport unit typically can move through the shoppingfacility quicker (including being parked in a staging area that may beproximate the task location), while reducing traffic on the sales floor.

The track system provides a system to in part support customer serviceat a shopping facility. The central computer system can identifylocations where motorized transport units are desired to performrespective tasks, and identify one or more motorized transport unitsthat can be directed to the one or more identified locations to performthe tasks. Based on the location of a motorized transport unit and thelocation where the task is to be initiated, the central computer systemcan further determine routing instructions that include directions alongone or more tracks of the series of elevated tracks distributed over atleast a portion of the sales floor of the shopping facility such thatthe tracks do not interfere with customers movement through the salesfloor. The central computers system can cause the routing instructionsto be communicated to the one or more motorized transport units. Inimplementing the routing instructions, the motorized transport unit maytravel over at least a portion of one or more tracks in moving to theidentified location of the task.

FIG. 16 illustrates a simplified flow diagram of an exemplary process1600 of routing motorized transport units through a shopping facility,which can include utilizing the elevated track system 1300 whenrelevant, in accordance with some embodiments. In step 1602, the centralcomputer system instructs multiple motorized transport units to accessthe elevated track system 1300. In some embodiments, the instructions tothe multiple motorized transport units can include instructing themultiple motorized transport units to access at least one of one or morechutes that are each cooperated with one of the elevated tracks. Again,each of the one or more chutes provides a passage for one or more of themotorized transport units between the series of elevated tracks and thesales floor. As described above, in some embodiments, one or more chutesmay be vertical chutes, while in other implementations one or morechutes may be angled (e.g., including one or more ramps, which mayinclude a spiral configuration, switch backs, be a straight ramp, orother configuration). Further, in some embodiments one of the one ormore chutes are vertical chutes with at least two channels formedtherein to receive a corresponding part of each motorized transport unitthat passes through the at least one chute.

In step 1604, further instructions are issued directing the multiplemotorized transport units to travel along the series of elevated tracksin traversing at least portions of the shopping facility. In someinstances, the instruction to the multiple motorized transport units totravel along the series of elevated tracks may cause two or moremotorized transport units to pass each other on a single track.Accordingly, the routing instructions may include instructing at least afirst and second motorized transport units to travel along at least afirst elevated track having a width such that the first motorizedtransport unit traveling on the first elevated track passes the secondmotorized transport unit traveling on the first elevated track.

In some instances, the central computer system may issue instructions toone or more of the multiple motorized transport units to enter and/orexit one or more staging areas of the elevated track system that extendsfrom a track of the series of elevated tracks. Again, the staging areasare configured to receive one or more motorized transport units that areidle and awaiting instructions from the central computer system andallow the one or more motorized transport units to be maintained in theelevated track system without interfering with one or more othermotorized transport units as they travel along at least the one track ofthe series of elevated tracks. One or more of the motorized transportunits may further be instructed to electrically couple with a chargingstation cooperated with a staging area and configured to electricallycouple with any one of the multiple motorized transport units and chargea rechargeable battery of the coupled motorized transport unit.

The central computer system can take advantage of the elevated tracksystem and communicate routing instructions to the multiple motorizedtransport units directing one or more motorized transport units alongone or more tracks of the series of elevated tracks in moving torespective desired destinations within the shopping facility. Thelocations of each of the multiple motorized transport units can betracked by the central computer system. Using the location information,the central computer system can further cooperatively coordinate themovements of the multiple motorized transport units as they travel alongthe series of elevated tracks and the sales floor. Further, the centralcomputer system can identify a location where a motorized transport unitis desired to perform a task. A first motorized transport unit, of themultiple motorized transport units, can be identified that is intendedto be directed to the identified location to perform the task. Routinginstructions can be determined by the central computer system thatinclude directions along one or more elevated tracks of the series ofelevated tracks that the first motorized transport unit is to follow inmoving to the identified location of the task. These routinginstructions can then be communicated to the first motorized transportunit to cause the first motorized transport unit to implement theinstructions and move along at least a portion of the elevated tracksystem to reach the task location.

The dispatching of one or more motorized transport units may be delayedcausing them to be ineffective and inefficient due to distances to betraveled, human traffic within a shopping facility, the speed of travelthrough a shopping facility, and other such conditions. Similarly, thestocking of shelves with pallets and other objects placed in potentialroutes of travel through a sales floor may also present a blocked aislecausing an inefficient route to be used to complete an activity. Thetrack system, however, can include one or more tracks, which may bepositioned overhead, with one or more chutes cooperated with the tracksto enable motorized transport units to quickly move from one part of ashopping facility to the other. The chutes can extend from a track (andoften through a ceiling) to the floor. In some implementations the chuteis configured such that a bottom of the chute is a few inches above thetop of a motorized transport unit and/or include an opening, door or thelike through which the motorized transport unit can exit. The motorizedtransport unit can enter the track system from a chute. When rising upthe chute, in some instances, the motorized transport unit uses atwisting and lock hydraulics to climb through the chute (e.g., using oneor more channels). The tracks can run, in some instances, in the raftersof the facility. The track system can include one or more dispensingbays and/or staging areas at the front and/or back of the shoppingfacility, or anywhere as needed and where space is available. Stagingareas can also be included at ground level, such as proximate one ormore chutes in a back storage area of the shopping facility.

The track system allows motorized transport units to quickly betransported without interfering with customers. As the shopping facilitymay need multiple places to quickly deploy a motorized transport unit,chutes may be placed anywhere in the shopping facility. One or moretracks may be configured and positioned to allow the motorized transportunits to travel in either direction at the same time. Further, multiplechutes can be positioned adjacent to each other and/or a single chutecan be configured with multiple passages to allow one motorizedtransport unit to go up as one motorized transport unit goes down.

The track system, in part, provides speedway type tracks that assistwith motorized transport units moving quickly from one part of ashopping facility to another. It further enables quick response times ofmotorized transport units to and from customer requests and other tasks.For example, when one or more motorized transport units are needed tocollect or clean up movable item containers (e.g., at a front of theshopping facility and/or in a parking lot), and the motorized transportunits are located in the backroom, the motorized transport units can bedirected to use the track system to quickly get to the front of theshopping facility to perform this task. The tracking system enablesmotorized transport units to move around the shopping facilityeffectively without hindering traffic on the sales floor. Along withthis the track system also improves estimated time of arrivals oncustomer assistance. This will enable customers to request motorizedtransport units via mobile device, help button, by asking an associate,and the like, and have the motorized transport unit at their side in arelatively short time (e.g., a matter of seconds in some instances).Further, the track system also assists with keeping the sales floorclear of multiple motorized transport units traveling to and from tasks.This can further reduce or solve a problem of overcrowding the salesfloor with multiple motorized transport units. The track system canallow and/or transport motorized transport units, and/or specialmotorized transport units, and in some instances, equipment utilized bythe motorized transport units (e.g., cleaning systems, ground treatmentsystems, cart retrieval motorized transport units, motorized transportunits with enhanced power capabilities, etc.).

As described above, the chutes cooperate with one or more tracks andallow motorized transport units to move between the ground and the tracksystem. Chutes may be embedded alongside or within other sales floorcomponents such as select displays, end cap units, racks, shelving, andthe like. Additionally or alternatively, chutes may be positioned inplaces that are under-utilized.

In some implementations, one or more tracks and chutes can be designedto be capable of accommodating various drone models or associated loadssuch as small lockers, some types of movable item containers, cleaningdevices and/or systems, and other such systems. For example, one or moretracks to a lawn and garden patio area of a shopping facility can beconfigured to accommodate a sweeper drone. Further, some embodimentsinclude staging areas and/or rapid deployment launch pads that aredeployed throughout the track system allowing decentralized storage ofavailable motorized transport units. This can improve three-dimensionalspace optimization minimizing time from request to arrival. The stagingareas can, in some implementations, include one or more extendedsegments of track located either at an endpoint or at a strategicallyplaced “T” junction”. One or more charging stations may further beavailable at these staging locations to maintain readiness.

In some embodiments, apparatuses and methods are provided herein usefulto allow motorized transport units to traverse at least portions of ashopping facility. In some embodiments, a track system comprises: anelevated track system comprising a series of elevated tracks that arepositioned elevated above a sales floor and products distributed over atleast a portion of the sales floor of a shopping facility, andconfigured such that multiple motorized transport units travel along theseries of elevated tracks in traversing at least portions of theshopping facility.

In some embodiments, one or more chutes each cooperated with one of theelevated tracks and configured to provide a passage for one or more ofthe motorized transport units between the series of elevated tracks andthe sales floor. In some embodiments, at least one of the one or morechutes comprise vertical chutes with at least two channels formedtherein to receive a corresponding part of each motorized transport unitthat passes through the at least one chute. In some embodiments, atleast a first elevated track is configured to allow a first motorizedtransport unit traveling on the first elevated track to pass a secondmotorized transport unit traveling on the first elevated track. In someembodiments, the elevated track system further comprises one or morestaging areas extending from a first track of the series of elevatedtracks and configured to receive one or more motorized transport unitsthat are idle and awaiting instructions from the central computer systemand allowing the one or more motorized transport units to be maintainedin the elevated track system without interfering with one or more othermotorized transport units as they travel along at least the first trackof the series of elevated tracks. In some embodiments, at least one ofthe one or more elevated staging areas comprises one or more chargingstations each configured to electrically couple with any one of themultiple motorized transport units and charge a rechargeable battery ofthe coupled motorized transport unit. In some embodiments, a centralcomputer system of the shopping facility configured to communicaterouting instructions to the multiple motorized transport units directingthe one or more motorized transport units along one or more tracks ofthe series of elevated tracks in moving to respective desireddestinations within the shopping facility. In some embodiments, thecentral computer system further comprises: a control circuit coupledwith the transceiver; and a memory coupled to the control circuit andstoring computer instructions that when executed by the control circuitcause the control circuit to perform the steps of: track locations ofeach of the multiple motorized transport units, and cooperativelycoordinate the movements of the multiple motorized transport units asthey travel along the series of elevated tracks and the sales floor. Insome embodiments, the control circuit in executing the computerinstructions is further configured to: identify a location where amotorized transport unit is desired to perform a task, identify a firstmotorized transport unit, of the multiple motorized transport units,intended to be directed to the identified location to perform the task,determine first routing instructions that include directions along oneor more elevated tracks of the series of elevated tracks that the firstmotorized transport unit is to follow in moving to the identifiedlocation, and communicate the first routing instructions to the firstmotorized transport unit.

In some embodiments, a method of routing motorized transport unitsthrough a shopping facility comprises: by a central computer system:instructing multiple motorized transport units to access an elevatedtrack system comprising a series of elevated tracks that are positionedelevated above a sales floor and products distributed over at least aportion of the sales floor of a shopping facility; and instructing themultiple motorized transport units to travel along the series ofelevated tracks in traversing at least portions of the shoppingfacility.

In some embodiments, the instructing the multiple motorized transportunits to access the elevated track system comprises instructing themultiple motorized transport units to access at least one of one or morechutes each cooperated with one of the elevated tracks, wherein each ofthe one or more chutes provides a passage for one or more of themotorized transport units between the series of elevated tracks and thesales floor. In some embodiments, at least one of the one or more chutescomprise vertical chutes with at least two channels formed therein toreceive a corresponding part of each motorized transport unit thatpasses through the at least one chute. In some embodiments, wherein theinstructing the multiple motorized transport units to travel along theseries of elevated tracks comprises instructing at least first andsecond motorized transport units to travel along at least a firstelevated track having a width such that the first motorized transportunit traveling on the first elevated track passes the second motorizedtransport unit traveling on the first elevated track. In someembodiments, the system further performs instructing one or more of themultiple motorized transport units to enter one or more staging areas ofthe elevated track system that extends from a first track of the seriesof elevated tracks, wherein the one or more staging areas are configuredto receive one or more motorized transport units that are idle andawaiting instructions from the central computer system and allow the oneor more motorized transport units to be maintained in the elevated tracksystem without interfering with one or more other motorized transportunits as they travel along at least the first track of the series ofelevated tracks. In some embodiments, the system further performsinstructing at least a first motorized transport unit to electricallycouple with a first charging station wherein at least one of the one ormore elevated staging areas comprises one or more charging stations eachconfigured to electrically couple with any one of the multiple motorizedtransport units and charge a rechargeable battery of the coupledmotorized transport unit In some embodiments, the system furtherperforms communicating routing instructions to the multiple motorizedtransport units directing the one or more motorized transport unitsalong one or more tracks of the series of elevated tracks in moving torespective desired destinations within the shopping facility. In someembodiments, the system further performs tracking locations of each ofthe multiple motorized transport units, and cooperatively coordinatingthe movements of the multiple motorized transport units as they travelalong the series of elevated tracks and the sales floor. In someembodiments, the system further performs identifying a location where amotorized transport unit is desired to perform a task, identifying afirst motorized transport unit, of the multiple motorized transportunits, intended to be directed to the identified location to perform thetask, determining first routing instructions that include directionsalong one or more elevated tracks of the series of elevated tracks thatthe first motorized transport unit is to follow in moving to theidentified location, and communicating the first routing instructions tothe first motorized transport unit.

In accordance with some embodiments, further details are now providedfor one or more of these and other features. For example, generallyspeaking, pursuant to various embodiments, systems, apparatuses,processes and methods are provided herein that allow for addressingincorrectly placed items.

The central computer system 106 is configured to receive sensor data,and based on the sensor data identify over time items that areincorrectly located and/or misplaced. Further, the central computersystem may categorize and/or identify the items. Based on thecategorization and/or identification, the central computer system candetermine how to address these items. In some instances, for example,the central computer system may communicate instructions to cause theitem to be retrieved and transported to one of multiple predefinedlocations. Some embodiments provide systems that utilize a plurality ofthe motorized transport units 102. As described above, each motorizedtransport unit is configured to perform multiple different tasks at aretail shopping facility. The central computer system 106 is furtherconfigured take advantage of these multiple motorized transport units inother ways while the motorized transport units are performing one ormore other assigned tasks. In some applications, the central computersystem instructs motorized transport units to implement one or moredifferent tasks relative to the retail shopping facility. The motorizedtransport units can further be instructed to capture data correspondingto conditions surrounding the motorized transport unit while performingthese assigned tasks. The central computer system receives this data asinput data, analyzes the input data, and detects and categorizes eachitem of multiple items that are determined to be incorrectly placedwithin the retail shopping facility according to one of multipledifferent predefined categories.

Again, the motorized transport units are configured to perform numerousdifferent of tasks, such as but not limited to, moving a movable itemcontainer, implement scans of products, detect location information,delivery products, retrieve one or more products, retrieve one or moremovable item containers, interface with customers, shelf facingdetection, item identification, trash retrieval, other such tasks orcombinations of such tasks. Further, the motorized transport unitsinclude multiple sensors 414. These sensors may include one or more ofdistance measurement sensors, cameras, a light sensors, optical basedscanning devices, RFID code readers, weight sensor, ultrasonic sensors,temperature sensor, metal detector, three-dimensional scanners, audiosensors, motion sensors, travel distance sensors, inertial sensors,other such sensors, and typically a combination of two or more of suchsensors. When active, each of the sensors can capture sensor data. Thesensors can be activated by instructions from the central computersystem, based on predefined code being implemented by the controlcircuit 406, or the like. For example, one or more cameras on amotorized transport unit can capture images (e.g., still and/or videoimages). The sensor data (e.g., images) can be communicated to thecentral computer system 106, which can store, archive and/or utilize theinput data received from the motorized transport units.

In some applications, the central computer system instructs motorizedtransport units to each implement at least one of the multiple differenttasks relative to the retail shopping facility. While the motorizedtransport units are performing these assigned tasks, each motorizedtransport unit can capture data corresponding to conditions surroundingthe motorized transport unit and communicate that data to the centralcomputer system. For example, the motorized transport unit can capturestill and/or video data and communicate that data to the centralcomputer system that can perform or cause an external system to performimage and/or video processing on some or all of the image data.

The central computer system receives the detected data as input data.Typically, this input data is received over time from the variousdifferent motorized transport units as they operate to implement thevarious tasks assigned over time to the different motorized transportunits. Further, input data may be received, in some instances, fromother sensors (e.g., shopping facility cameras, shelf sensors, etc.).The central computer system analyzes the input data that was detectedand provided (e.g., by the motorized transport units while the motorizedtransport units perform at least one of the tasks and/or other sensors).Based on the analysis of the input data, the central computer systemcan, typically over time, detect multiple different items that areincorrectly placed within the retail shopping facility. Further, in someinstances, the central computer system can categorize each of some orall of the detected incorrectly placed items according to one ofmultiple different predefined categories.

The central computer system categorizes in accordance with one ofmultiple different categories. Any number of predefined categorizes canbe specified. For example, items may be categorized as merchandize soldby the shopping facility, customer property, a recyclable waste item, anon-recycle waste item, a hazardous or special handling waste item(e.g., battery, cleaning supply, paint, item that contains lead, othersuch items that may be identified based on regulatory data (e.g., EPAdata), or other such items), a spill, shopping facility property (e.g.,movable item container, pallet jack, pallet, etc.), or other suchcategories.

In some embodiments, the predefined categories are used in directing howthe detected incorrectly placed items are to be addressed. For example,a motorized transport unit may be instructed to retrieve the item andtake it to one of multiple different predefined locations based on howthe item is categorized, a worker at the shopping facility may bealerted to retrieve an item, an item may be left where it is detected,or other such actions. In some instances, the central computer systemcan determine for each of the detected items, based on thecategorization of the items, a location of multiple predefined differentpotential locations of the retail shopping facility the categorized itemis to be taken. An instruction can be communicated, relative to each ofthe categorized items, to cause the categorized item to be taken to thedetermined location. The instruction may be communicated to one or moremotorized transport units, of the plurality of motorized transportunits, to retrieve the item and transport the item through at least aportion of the retail shopping facility to the determined location.

In some instances, the motorized transport unit may include anextendible arm or other such system that can be activated to pick up theitem. In other instances, the motorized transport unit may include ascope or lift that can be slide under at least a portion of the item topick up the item. Similarly, a motorized transport unit may include abrush or plow system that can be used to push the item. Still othermotorized transport units may include other mechanisms that can be usedto transport an item, and the central computer system may select amotorized transport unit based on the mechanism that the motorizedtransport unit includes and/or that can be cooperated with a motorizedtransport unit. In some implementations, the central computer systemaccesses and/or maintains one or more databases, indexes, arrays,spreadsheets or the like that identify each available motorizedtransport unit and characteristics and/or functionality that can beperformed by each motorized transport unit. Referencing this index, thecentral computer system can select a motorized transport unit, typicallyin accordance with a categorization of the detected item and/or anintended location where the item is to be taken.

The motorized transport unit may be activated, and/or be instructed bythe central computer system to activate, one or more sensors based on adetection of an item to obtain additional data that can be used tocategorize and/or identify the item. Similarly, the motorized transportunit and/or the central computer system may instruct the motorizedtransport unit to move to a different orientation and/or move around theitem in attempts to accurately categorize and/or identify the item. Insome instances, the central computer system may detect an item isincorrectly placed, and as part of the categorization the centralcomputer system can communicate one or more instructions to a motorizedtransport unit to weigh the detected item. For example, an instructionmay be issued to cause the motorized transport unit to pick up an itemwith an extendible arm that is cooperated with a weight sensor to detecta weight of an item, issue an instruction to cause the motorizedtransport unit to move the item onto a scale (e.g., a scale on themotorized transport unit or a separate scale), or other such actions todetermine a weight. The determined weight of the item can becommunicated to the central computer system, which can categorize theitem based in part on the weight of the item. For example, an item maybe a wallet, and in categorizing the wallet as an item being sold by theshopping facility or a customer's wallet, the central computer systemcan consider the weight (e.g., typically a customer's wallet includescontents that would cause it to weigh more than an empty wallet beingsold by the shopping facility). Similarly, a plastic bottle may bedetected and the weight can be used to determine whether it may be aproduct sold by the shopping facility or a bottle that has already beenopen and thus not to be sold by the shopping facility (e.g., which mayresult in categorizing the item as a recyclable item, non-recyclablewaste, or the like). Additionally or alternatively, the motorizedtransport unit may include an ultrasonic sensor that can be used, forexample, to determine whether there is something inside an item orwhether the item is empty (e.g., whether a water bottle has fluid init).

As a further example, the central computer system in categorizing itemscan determine that an item is not a retail item being offered for saleby the retail shopping facility. This determination may be based onfailing to identify the item, detecting an identifier of the item anddetermining that the identifier does not correspond with an item beingsold at the shopping facility, identifying the item is consistent withan item sold but that the item is damaged, consumed, partially consumedor the like, identifying that the item is presumed to be owned by acustomer, and/or other such determinations. In some instances, thecentral computer system can determine that an item is presumed to beowned by a customer and accordingly should not be discarded. Based onthis determination, the central computer system may further determinethat the item is to be taken to a predefined lost and found location. Aninstruction can be communicated to a motorized transport unit and/or aworker to retrieve the item and take the item to the lost and foundlocation.

Other sensors may additionally or alternatively be activated to helpcategorize and/or identify a detected item. For example, a motorizedtransport unit may include a scanner that can be used to scan anidentifier of an item (e.g., a barcode scanner, an RFID detector,imaging system to capture an image of a barcode, text recognition froman image, etc.). Accordingly, the central computer system may activateone or more sensors of the motorized transport unit to acquire inputdata that can be used by the central computer system in categorizingand/or identifying an item.

In some embodiments, the central computer system obtains and usesfurther sensor data from sources other than one or more of the motorizedtransport units, and can additionally or alternatively use that furthersensor data in detecting, categorizing, and/or identifying items. Thefurther sensor data may be obtained from one or more sensors of theshopping facility, fixed cameras at the shopping facility, shelf sensordata (e.g., weight sensor, light detector, etc.), worker input, customerinput (e.g., from a customer smartphone), and/or other such sensor data.The further sensor data can be used by the central computer system todetect items that are incorrectly placed, identify items and/orcategorize items. For example, the central computer system may receiveimage data captured by one or more cameras each fixed at a locationwithin the retail shopping facility. The central computer system canperform image processing and/or direct an image processing system toperform image processing of the image data. One or more items can bedetected as being incorrectly placed based on the image processing ofthe image data. In some instances, the central computer system maydetect an item based on the further sensor data, and instruct amotorized transport unit to travel to the location of the item andobtain additional sensor data corresponding to the detected item.

The detection of an incorrectly placed item can, in some instances,include determining that an item is not in a place where an item isexpected. Often, the central computer system includes a shoppingfacility mapping, images of multiple portions of the shopping facility,two-dimensional (2D) and/or three-dimensional (3D) scans of some or allof the shopping facility and/or products, and other such information.This mapping and/or scan data can be updated as items are moved and/orproducts are placed in feature locations (e.g., end caps are added,adjusted, removed, etc.). Image data from the motorized transport units,fixed cameras, customers' smart devices, workers' user interface units,and/or other such imaging data can be image processed and compared tomappings, scans and/or images of what is expected. For example, an itemlaying in an aisle or walkway can be detected as inconsistent with whatis expected (e.g., based on an image comparison with a reference image).Further, the image data may be sufficient to identify the item (e.g.,based on text capture, comparison with a reference 3D scan of a product,image comparison with reference images of products, or the like).Additionally and/or alternatively, one or more motorized transport unitsmay be instructed to obtain additional information about the detectedincorrectly placed item.

As described above and further below, the additional data may includeweight information, additional images from one or more different angles,bar code scan, and the like. In some applications, the central computersystem receives this information and attempts to identify the item. Inthose instances where the item is recognized, that item may beassociated with a particular category based on the identification. Theparticular categorization can further take additional input data intoconsideration. For example, the item may be identified as correspondingto a product sold at the shopping facility, but because of a change ofdimensions from reference dimensions of the identified item (e.g.,smashed, dented, etc.) and/or based on a weight difference from areference weight of the identified item, the incorrectly placed item maybe designated as waste, and in some instances may further be associatedwith a sub-category (e.g., recyclable, non-recyclable, hazardous, etc.).For example, a motorized transport unit may be instructed to use anultrasonic sensor (e.g., determine whether there is something inside theitem), a metal detector (e.g., determining whether the object should becategorized as recyclable waste), weight sensor, and/or other suchsensors.

In those instances, where the item cannot be identified, the item may becategorized based on an appearance of the item, based on a weight of theitem, or other such information. For example, the item may not berecognizable, but can be categorized as waste based on characteristicsof the item (e.g., flattened, dirty, crumpled, weight less than athreshold, weight less than a threshold corresponding to dimensions ofthe item, etc.). The categorization may, in some instances, includeidentifying the detected item, being unable to identify the item, and/ordetermining that the item does not correspond to multiple predefineditems.

Once categorized, the central computer system can determine how the itemis to be addressed. This can include leaving the item where it wasidentified, transporting the item to a predefined area corresponding tothe categorization, or the like. In some instances, for example, thecentral computer system may contact a shopping facility worker toretrieve the item (e.g., communication to a user interface unit 114 withinformation specifying where the item is located within the shoppingfacility, instructions regarding what the worker may need to assist theworker in retrieving the item (e.g., shopping cart, mop, etc.), apriority level, and/or other such information) and transport the item toone of multiple different predefined locations. In other instances, thecentral computer system may communicate instructions to one or moremotorized transport units to cause the one or more motorized transportunits to retrieve the detected item and transport the item to one ofmultiple different predefined locations.

As introduced above, in other instances, one or more shopping facilityworkers and/or motorized transport units may be instructed to leave thedetected item. The central computer system may determine that a detectedincorrectly placed item has not been at a location where the item wasdetected for more than a threshold period of time, and communicate aninstruction to leave the first item at the location. In someembodiments, the central computer system determines whether to evenconsider leaving the item and/or identifies the threshold period of timebased on the categorization of the item. When a threshold period of timeis associated with a category or sub-category, the central computersystem can confirm that the detected item has been at the location forthe threshold period of time before instructing that the item beretrieved.

Similarly, the central computer system may consider other factors indetermining whether an item is to be retrieved, whether to leave theitem, or take other action. For example, the central computer system maydetermine that a movable item container is within a threshold distanceof the item, that a customer is within a threshold distance of the item,whether a shopping facility worker is within a threshold distance of theitem, whether one or more shopping facility workers are working or arescheduled to be working within a threshold distance of the item, whethera worker was at or within a threshold distance of the location within athreshold time period before detecting the item (e.g., because theworker may have placed the item at the location), whether a notificationis received that the item is intended to be at the location, and/orother such factors. In some instances, for example, the central computersystem may receive sensor data and/or additional sensor data andidentify based on the additional sensor data that a customer is within afirst threshold distance of the detected incorrectly placed item. Thecentral computer system can communicate an instruction, based on thecategorization of the first item and when the customer is within thefirst threshold distance of the first item, instructing that the item isto be left at a location where the item is detected. The centralcomputer system can continue to track the input data relative to thedetected item and subsequently issue other commands based on changes ofconditions (e.g., the customer moves beyond the threshold distance, theitem is at the location for more than a threshold time, etc.).

Similarly, in some instances, the central computer system, upondetecting that a customer is at the location, may instruct a motorizedtransport unit to approach the customer to ask whether the item belongsto the customer. The inquiry may be through an audio communication, anaudible alert with displayed text, other such communication, orcombination of two or more of such communications. In some instances,the customer may be known (e.g., based on detecting the customer's userinterface unit, facial recognition, customer registering upon enteringthe shopping facility, a motorized transport unit associated with thecustomer, etc.), and the central computer system may directlycommunicate with the customer's user interface unit and/or a motorizedtransport unit associated with the customer. As another example, thecentral computer system may use additional sensor data to detect that aworker is within a threshold distance of the item, and the centralcomputer system may communicate with the worker (e.g., a user interfaceunit 114, a motorized transport unit, etc.) to ask the worker whetherthe item should be left or retrieved.

FIG. 17 illustrates a simplified flow diagram of an exemplary process1700 of addressing and/or categorizing incorrectly placed items, inaccordance with some embodiments. In step 1702, motorized transportunits are tasked by the central computer system to implement at leastone of the multiple different tasks relative to the retail shoppingfacility. Again, the motorized transport units are configured toimplement numerous different tasks, and the central computer system cancommunicate commands to cause one or more of the motorized transportunits to complete the task. For example, identified items may becategorized, in some instances, as one of merchandize sold by theshopping facility, customer property, a recyclable waste item,non-recyclable waste, hazardous waste, unknown item, worker property,product being stocked, other such categories, and in some instances acombination of two or more of such categories.

In step 1704, the central computer system receives and analyzes inputdata detected and provided by at least one or more of the motorizedtransport units while the motorized transport units perform the one ormore tasks. In step 1706, the central computer system detects andcategorizes each item of multiple items that are incorrectly placedwithin the retail shopping facility according to one of multipledifferent predefined categories.

In some instances, the process determines whether an action should betaken regarding the categorized item. As described above, in someinstances the central computer system may not take action and/or may notdirect an action to be performed (e.g., a customer is within a thresholddistance, a worker is within a threshold distance, work is scheduled tobe performed and/or is being performed within a threshold distance ofthe item, and other such conditions). In many instances, however, thecentral computer system will associate the detected item with acategory, and based on that categorization cause one or more actions tobe implemented. For example, the central computer system may determinefor each detected and categorized item that an item is to be transportedto one of multiple predefined different potential locations of theretail shopping facility based on the categorization of the item. One ormore instructions can be communicated, relative to each of thecategorized items, to cause the categorized item to be taken to thecorresponding determined location. This communication may include, forexample, one or more instructions communicated to a motorized transportunit, one or more instructions communicated to a user interface unit ofa worker, communicated to a display system that displays the instructionthat would be visible to one or more workers, other such communication,or combination of such communication. For example, one or moreinstructions can be communicated to a motorized transport unit toretrieve the item and transport the item through at least a portion ofthe retail shopping facility to the determined location.

Some embodiments, in categorizing an item, determines that a detecteditem is not a retail item being offered for sale by the retail shoppingfacility, and further determine that the item is presumed to be owned bya customer and should not be discarded. Based on this categorization,the central computer system may in some instances determine that theitem is to be taken to a lost and found location.

Additional sensor data may be evaluated by the central computer systemand/or other processing circuitry in at least categorizing detecteditems. In some instances, for example, the central computer systemreceives image data captured by at least one camera fixed at a locationwithin the retail shopping facility. The central computer system cancause image processing of the image data and detect, based on the imageprocessing, that an item is incorrectly placed. Other sensor data may beobtained, such as weight, ultrasound, text capture, RFID data, bar codedata, and/or other such information. In some implementations, thecentral computer system activates one or more systems to capture sensordata. For example, the central computer system may communicateinstructions to a motorized transport unit to pick up and weigh adetected item. A communication can be received from the motorizedtransport unit specifying a weight of the item. The central computersystem can use this weight information in categorizing the item (e.g.,comparison with one or more reference weights that are associated withone or more products). For example, the central computer system maydetermine that the item corresponds to a specific known product sold bythe shopping facility, and can determine whether the item should beconsidered waste based on a difference between a reference weight of theknown product and the detected weight. The weight may be provided by aweight sensor on the motorized transport unit, a scale on which amotorized transport unit or worker place an item, or other such source.

Further, in some instances, it may be determined that a detected itemhas not been at a location where the item was detected for more than athreshold period of time. Accordingly, instructions can be communicatedto leave the first item at the location based on the categorization ofthe item and in response to determining that the first item has not beenat the location where it was detected for more than the threshold periodof time. Similarly, the central computer system may receive additionalsensor data and identify, based on the additional sensor data, that acustomer is within a threshold distance of an item determined to beincorrectly placed. One or more instructions can be communicated, basedon the categorization of the item and when the customer is within thethreshold distance of the item, instructing that the first item is to beleft at a location where the first item is detected.

Shopping facility workers frequently see items that are in incorrectlocations. Sometimes workers may retrieve and route these items toappropriate locations. Workers, however, are unable to look all thetime, take the time to assess items customers may or may not properlyhandle, so incorrect items are placed on shelves, left to clutterspaces, or incorrectly disposed. These incorrectly or abandoned itemspotentially reduce sales, add to shrink, result in personal losses, andother adverse results. Some embodiments, in part, take advantage of themotorized transport units that travel through shopping facilities whileperforming other assigned tasks to obtain sensor data that can be usedto detect items that may be incorrect locations. Further sensor datafrom other sources (e.g., fixed cameras, sensor data from fixed sensors(e.g., RFID sensor, shelf sensor systems, etc.), sensor data fromcustomer and/or worker user interface units, other such sensor data, andoften a combination of two or more of such sensor data). Using thissensor data, the central computer system is configured to detect itemsthat are in unexpected and/or incorrect locations (e.g., placed on anincorrect shelf, lying on the floor, etc.). For example, sensor data maybe obtained from a motorized transport unit while performing a cleaningtask, while changing trash bins, items potentially identified asobstacles while assisting a customer, and other such tasks. The centralcomputer system can obtain the sensor data, evaluate the sensor data totry to categorize, classify and/or identify items, and determineappropriately handling of these items (e.g., having the item returned toan intended shelf, having the item placed in a recycle bin, having theitem placed in a waste bin, having the item delivered to a lost andfound location, and other such actions).

Some embodiments can categorize and/or identify items using one or moretypes of sensor data even when the item is mislabeled, poorly labeled,missing bar codes. Often such automated categorization is more precisethan would be achieved when relying on shopping facility workers alone.The central computer system typically accesses and evaluates sensor dataand/or determined characteristics relative to multiple database sourcesof various characteristics, images, data, and the like. Accordingly, thecentral computer system is able to improve accuracy of handling ofincorrectly placed items and/or reduce subjectivity regarding how itemsare handled. Further, the accurate categorization and/or identificationof misplaced items improves consistency of pricing, enables items to bechecked more often, and can have items mislabeled or misplaced routed tointended shelves, routed to a predefined returns location (e.g., forre-labeling and re-stocking, etc.), routed to a proper disposallocation, and the like. The central computer system can furthercategorize items that are not for resale by the shopping facility, by inpart distinguishes items for sale from items not for sale, and causeitems not for sale to be removed from the sales floor. Some embodimentsfurther provide for better compliance by, in part, identifying expired,recalled, damaged goods. Further, the identification and handling ofincorrectly placed items can improve quality of service by, in part,continuously categorizing and/or identifying unknown items, havingmotorized transport units multitasking, which can achieve a level ofservice that typically is not possible through workers alone, due inpart to time limitations, lack of information, and the like.

In some embodiments, the central computer system collects sensorinformation, evaluates the sensor information in sorting detected items,and causes one or more actions to be performed to handle the identifiedincorrectly placed items or objects. The collection of sensor data caninclude sensor data from one or more motorized transport units, whichcan obtain the sensor data while performing other tasks and/or whilebeing directed to move through the shopping facility with the task ofdetecting items that may be incorrectly placed. Further, sensor data maybe obtained sensors of the shopping facilities (e.g., RFID sensors,light sensors, cameras, shelf sensors, trash can sensor, wasteprocessing sensors, and/or other such sensors). Similarly, sensor datamay be received from workers (e.g., accessing a specific workerinterface of a computer system, a worker user interface unit, etc.),customers, other sources, or combination of two or more of such sources.In some implementations, a sort processing provides for categorization,identification, determination of how to handle an item, storage, and/orother such functions. Collection processing may, in part, determinewhether an item is to be picked up or left alone. Additionally oralternatively, a handling process may issue instructions to cause itemsto be addressed (e.g., determine whether an item is to be retained ordisposed). In retaining an item, the item can be returned to a customeror reclaimed by the shopping facility. For example, items to be disposedof are typically categorized as recycle, trash or other category and/orsub-category (e.g., compose waste, trash, hazardous, etc.).

Some embodiments implement a sorting process that, in part, includes thecategorization and/or identification of items. The sensor data isevaluated relative to known data, such as, but not limited to, an itemdatabase, index or the like that maintains information about differentpotential items that may be identified, imaging database that maintainsimage information corresponding to known items, other such databases, orcombination of two or more of such databases. These databases may bepart of the central computer system, separate from the central computersystem and maintained by the shopping facility, a parent entity of theshopping facility (e.g., corporation of a chain of shopping facilities),and/or third party services (e.g., manufacturers, distributors, vendors,governmental agencies (e.g., environmental protection agency, cityrecycle services, etc.)).

The sensor data may be acquired while a motorized transport unit isperforming other tasks or specifically collecting sensor data that canbe used to detect potential items. In some instances, a potential itemmay be scanned and/or other sensors activated to obtain relevant data.For example, a motorized transport unit may include a weight scalesensors to obtain weight information. A bar code scanner and/or RFIDsensor can be used to obtain identifying information about an item. Someembodiments use different sensor data to confirm and/or further narrowpotential categorization and/or identification (e.g., a weight of anitem can be compared with known weight associated with a bar codedetected to evaluate completeness of the item). The weight sensor maydetermine weight by the amount of pull force it takes to pick up theobject by a robotic arm, which may be grasping the item using, forexample, a robotic clamp, fingers or the like. A metal detector and/ormagnetic field can provide information to evaluate whether an item mayhave some metal recycling value. Optical sensors (e.g., lasers,infrared, opacity, color, etc.) may be utilized to aid in identifyingsize and classifying item. Some embodiments may activate 2D and/or 3Dcameras for visual image recognition (e.g., models, shapes, dimensions,etc.) to determine size and whether the sensor data matches models andimages currently stored. Again, a bar code readers (e.g., visible,invisible ink scanner, etc.) can provide quick assessment of itemidentity. Some embodiments implement image processing to comparepatterns, shapes, and the like on an item. Further, text recognition(e.g., optical character recognition, etc.) to assist in identificationand classification of items (e.g., paper cup verses jar of jam).Ultrasonic density scans may be used to assess value of an object andcategorize the object (e.g., categorize as product sold and to bereturned to a shelf, customer object and taken to lost and found, waste(e.g., recycle, trash, compost, hazardous, etc.), and the like.

In some applications, the item categorization includes a comparison withother known object specifications, models, consistency, and the like.The comparison can, in some instances, evaluate matching based uponhighest probability of a match. The categorizing of an item can be basedupon the probability of a match. In some instances, an item cannot becategorized and/or a probability of a match to a category is below athreshold, and the item can be categorized as an unknown object. Such acategorization can later be changed by a worker, or left as unknown forfurther processing. In some instances, the central computer system mayobtain one or more images and/or video of an item and communicate theimage and/or video to one or more workers for further consideration,categorization and/or identification. The worker may respond with acategorization or identification of the object, which may include a barcode, RFID information, or other identifying information.

The central computer system further identifies, based on theidentification and/or categorization how the item is to be addressed. Inpart, the determination of how to handle an item can depend on whetherthe item is a product being sold by the shopping facility. In someinstances, merchandise may be detected and/or recognized based on ascanning of a barcode, optical analysis, comparison to 2D and/or 3Dmodels on file, text recognition, etc. Similarly, an item may becategorized as waste or trash when it cannot be recognized asmerchandise, when it is recognized as waste (e.g., empty plasticbottles, cups, crinkled paper, smaller items, shape of a recognized itemdoes match 3D models, text, or other criteria on file. Items can becategorized as potential lost and found items, such as merchandise-likeitems that failed to match criteria to be confirmed as merchandise, itemcorrespond or match 2D or 3D models or other criteria but do not matchwithin a threshold to be confirmed that it is store merchandise, itemsmatching merchandise but the weight does not match or metal can bedetected inside, and the like. Routing and/or handling of items istypically dependent on the categorization of the item. For example, anitem may be categorized as a movable item container and routed to astaging area near an entrance of the shopping facility, and itemsrecognized as owned by the shopping facility (e.g., equipment, tools,etc.) can be routed to an equipment handling location, items thatmerchandise and sold by the shopping facility may be returned to anintended location (e.g., transported by a worker, motorized transportunit, etc.) and/or routed to a returns location for further processing.Similarly, items categorized as potentially customer property may berouted to a lost and found location, while items identified as waste maybe routed to a recycling location (e.g., if determined to have no othervalue), a composting location, a hazardous waste handling location, ageneral waste location for further processing, or the like

Some embodiments may determine an item is and unknown object, but mayfurther determine whether the item may have some value (e.g., recyclevalue, composting value, potential customer value, etc.). In someinstances, such unknown categorized items may be routed to a particularworker, one of one or more predefined bins, or the like that allow aworker to inspect and determine how the item is to be handled (e.g.,reviewed to see whether it should be routed to lost and found, recyclebins, waste bin, etc.). Sensor data may be considered in determine whichof multiple unknown locations/bins an item should be placed. Forexample, when metal is detected, it may be recognized as a can andstaged for recycling, while other items may be potential customerproperty (e.g., metal keys) are placed in a customer property reviewbin. In some instances, a recycle indicator or symbol may be detectedproviding guidance regarding how an item is to be recycled. Similarly,in some instances, plastic bottles may be assumed to be recyclable, butother types of plastic may need further review to be reviewed. Somepaper items (e.g., napkins, paper plates, newspapers) can be placed inrecycling bins. When an item is determined to contain a potentialcombination of materials, it may be categorized accordingly furtherevaluation by a worker performed (e.g., capturing an image or video,sending the captured image or video to a worker, staging in anevaluation location, and letting the worker identify the item). Itemsidentified as not having value can be placed in a bin for disposal.

Some embodiments implement collection processes to identify how an itemis to be addressed and/or how an item is retrieved. Unexpected itemidentification may occur by video analytics, by customers bringingobjects to a motorized transport unit or worker, through 2D and/or 3Dscanning of shelves, image processing and the like. The central computersystem, in some instances, may determine an item is to be left alone(e.g., for a threshold period of time), which may depend on how long anobject is in place. Once an object is detected as unexpectedly being ina location, a threshold of time may be considered in some instancesbefore issuing instructions to cause the item to be retrieved. Thethreshold time may be set by a worker, and can be different depending onthe area of store, categorization, type of object (providing it can beidentified), whether a customer and/or movable item container is withina threshold distance from the item, whether a worker is within athreshold distance, a time of day or night, other such factors, or acombination of two or more of such factors. When the item is to beretrieved (e.g., after a threshold time), an instruction can becommunicated to a motorized transport unit, a worker's user interfaceunit, or the like. Further, in some instances where the motorizedtransport unit is unable to retrieve the item (e.g., due to size,consistency, threshold number of failed attempts, etc.), a subsequentinstruction can be communicated to a worker with location informationand/or directions through the shopping facility to the item.

Again, based on the categorization and/or identification of the item,the central computer system can determine how an item is to be handled.For example, items identified as customer's property can be directed toa lost and found location, with instructions communicated to a motorizedtransport unit and/or worker to transport the item. Some embodimentsmaintain a lost and found database and/or virtual lost and found thatmay be electronically accessed by a worker and/or customers to determinewhether an item was found. The database may obtain information about theitem (e.g., an identification, categorization, etc.), where the item wasfound, when the item was found, when the item was placed into lost andfound, and/or other such information. Further, in some instances, one ormore images, scans, and/or video of the item may be maintained in thedatabase and/or references in the database (e.g., link to access aseparate memory storage and/or database). In some instances, a motorizedtransport unit and/or the central computer system may keep track of oneor more items detected that appear to be something that may be of valueto a customer. Similarly, workers that find items may give the items toa motorized transport unit.

The central computer system and/or the lost and found database may keeptrack of the length of time that an item has been in the lost-and-found,and properly dispose of it after a reasonable amount of time. In someembodiments, the central computer system and/or the motorized transportunits may have access to the lost and found database (e.g., listing,images, etc.). The central computer system and/or the motorizedtransport units can access the database in response to a customerrequest and the motorized transport unit may display information to acustomer regarding found items. Similarly, the customer may be allowedto enter information through the user interface of the motorizedtransport unit with details about an item the customer believes theylost at the store (e.g., approximate time of loss, type of item,color(s), size, model information, other characteristics). The centralcomputer system and/or the motorized transport unit can implement asearch through the lost and found database using the information to tryand identify the item in the lost and found. Workers may refer customerswho have lost something to pose questions to a motorized transport unit.In some instances, a motorized transport unit and/or a worker can beinstructed to deliver a lost item to the customer who has lost them, byusing the customer's user interface unit to locate the customer.Further, some items that are determined to be customer items, may begiven higher priority. For example, the central computer system mayapply a higher priority to found wallets, keys, smartphones, or thelike. Customer service may also be immediately alerted in case thiscustomer is still in the store. Other less important items (e.g.,misplaced merchandise, trash, etc.), may be collected in a bin, andsorted through later as time permits. Similarly, the central computersystem may be directed to identify and/or categorize an item that theshopping facility is willing and/or legally bound to accept (e.g.,supporting the European WEEE (Waste Electrical and Electronic EquipmentDirective) where a retailer is legally bound to take back end of lifeelectronic), and can categorize the item based on an identificationand/or categorization of the product and how to dispose of it.

In some embodiments, exemplary systems and methods are described hereinuseful to detect and address incorrectly and/or misplaced items. In someembodiments, a system comprises: a plurality of motorized transportunits that are each configured to perform multiple different tasks at aretail shopping facility; and a central computer system configured toinstruct various ones of the plurality of motorized transport units toimplement at least one of the multiple different tasks relative to theretail shopping facility, receive and analyze input data detected andprovided by the motorized transport units while the motorized transportunits perform the at least one of the tasks, and detect and categorizeeach item of multiple items that are incorrectly placed within theretail shopping facility according to one of multiple differentpredefined categories.

In some embodiments, the central computer system in categorizing theitems is further configured to: categorize at least some of the items asone of merchandise sold by the shopping facility, customer property, anda recyclable waste item. In some embodiments, the central computersystem is further configured to: determine for each of the items, basedon the categorization of the items, a location of multiple predefineddifferent potential locations of the retail shopping facility thecategorized item is to be taken, and communicate an instruction,relative to each of the categorized items, to cause the categorized itemto be taken to the determined location. In some embodiments, the centralcomputer system in communicating the instruction communicates theinstruction to a first motorized transport unit, of the plurality ofmotorized transport units, to retrieve the item and transport the itemthrough at least a portion of the retail shopping facility to thedetermined location. In some embodiments, the central computer system incategorizing each of the multiple items determines that a first item isnot a retail item being offered for sale by the retail shoppingfacility, and further determines that the first item is presumed to beowned by a customer and should not be discarded, and the centralcomputer system, in determining the location, determines that the firstitem is to be taken to a lost and found location. In some embodiments,the central computer system is further configured to receive image datacaptured by at least one camera fixed at a first location within theretail shopping facility, cause image processing of the image data, anddetect at least a first item is incorrectly placed based on the imageprocessing of the image data. In some embodiments, the central computersystem in categorizing a first item communicates instructions to a firstmotorized transport unit to pick up the first item and communicate aweight of the first item to the central computer system, and categorizesthe first item based on the weight of the first item. In someembodiments, the central computer system is further configured todetermine that a first item has not been at a location where the firstitem was detected for more than a threshold period of time, andcommunicate an instruction, based on the categorization of the firstitem and in response to determining that the first item has not been atthe location where the first item was detected for more than thethreshold period of time, to leave the first item at the location. Insome embodiments, the central computer system is further configured toreceive additional sensor data, identify based on the additional sensordata that a customer is within a first threshold distance of a firstitem, and communicate an instruction, based on the categorization of thefirst item and when the customer is within the first threshold distanceof the first item, instructing that the first item is to be left at alocation where the first item is detected.

Further, some embodiments provide methods to address incorrectly placeditems, comprising: by a central computer system for a retail shoppingfacility: tasking various ones of a plurality of motorized transportunits to implement at least one of the multiple different tasks relativeto the retail shopping facility; receiving and analyzing input datadetected and provided by the motorized transport units while themotorized transport units perform the at least one of the tasks;detecting and categorizing each item of multiple items that areincorrectly placed within the retail shopping facility according to oneof multiple different predefined categories.

In some embodiments, the categorizing the items comprise categorizing atleast some of the items as one of merchandize sold by the shoppingfacility, customer property, and a recyclable waste item. In someembodiments, the system further performs determining for each of theitems, based on the categorization of the items, a location of multiplepredefined different potential locations of the retail shopping facilitythe categorized item is to be taken, and communicating an instruction,relative to each of the categorized items, to cause the categorized itemto be taken to the determined location. In some embodiments, thecommunicating the instruction comprises communicating the instruction toa first motorized transport unit, of the plurality of motorizedtransport units, to retrieve the item and transport the item through atleast a portion of the retail shopping facility to the determinedlocation. In some embodiments, the categorizing each of the multipleitems comprises: determining that a first item is not a retail itembeing offered for sale by the retail shopping facility and determiningthat the first item is presumed to be owned by a customer and should notbe discarded; and wherein the determining the location comprisesdetermining that the first item is to be taken to a lost and foundlocation. In some embodiments, 15, the system further performs:receiving image data captured by at least one camera fixed at a firstlocation within the retail shopping facility and cause image processingof the image data, and detecting at least a first item is incorrectlyplaced based on the image processing of the image data. In someembodiments, the system further performs: communicating instructions toa first motorized transport unit to pick up and weigh a first item ofthe multiple items, receiving a communication from the first motorizedtransport unit a weight of the first item, wherein the categorizing eachof the items comprises categorizing the first item based on the weightof the first item. In some embodiments, the system further performs:determining that a first item has not been at a location where the firstitem was detected for more than a threshold period of time, andcommunicating an instruction, based on the categorization of the firstitem and in response to determining that the first item has not been atthe location where the first item was detected for more than thethreshold period of time, to leave the first item at the location. Insome embodiments, the system further performs: receiving additionalsensor data, identifying based on the additional sensor data that acustomer is within a first threshold distance of a first item, andcommunicating an instruction, based on the categorization of the firstitem and when the customer is within the first threshold distance of thefirst item, instructing that the first item is to be left at a locationwhere the first item is detected.

In accordance with some embodiments, further details are now providedfor systems and methods for sorting items discarded in a shoppingfacility.

In some embodiments, a system for sorting items discarded in a shoppingfacility comprises: a motorized transport unit configured to travelaround discarded items collected from the shopping facility and placedin a sorting area in the shopping facility, the motorized transport unitcomprises a sensor device and an item mover device, an itemcharacterization database storing characteristics corresponding to aplurality of items likely to be found in the shopping facility, and acentral computer system coupled to the motorized transport unit and theitem characterization database, and configured to: receive data from thesensor device on the motorized transport unit, determine an itemcharacteristic of an item among the discarded items in the sorting areabased on the data from the sensor device, determine a sorting categoryof the item from a plurality of predefined categories based on the itemcharacterization database, each of the predefined categories correspondsto a method of discarded item deposition, and cause the motorizedtransport unit to move the item, with the item mover device, from thesorting area into a category area associated with the sorting category.

In some embodiment, an MTU may be configured to bulk process largevolumes of discarded items from trash bins and may be implemented forbackroom trash bin handling. Trash bins may be checked for merchandiseand select materials prior to transferring the content into a dumpster.In some embodiments, the systems and methods described herein mayfunction to enhance existing recycling solutions or protocols. In someembodiments, the systems and methods described herein may increase bothsustainability and loss prevention. An MTU may help associates to ensurethat valuable items or material are accounted for and routed properly.

In some embodiments, system and methods described herein may be used instores and warehouse stores to recycle and process discarded items thatwould otherwise be sent to landfill. MTUs and/or associates may emptyfilled trash bins from a shopping facility. Associates are not alwaysable to sift through all of the garbage to check for items of valuesince some items or material of value may not be easily observed. Thiscan result in potential loss and shrink. An MTU may automate theidentification and recovery of materials, distinguish trash fromtreasure, and sort items into bins. In some embodiments, the system mayoperate towards achieving zero waste by providing an additional costeffective filter for reducing loss and/or locating value in theprocessing of discarded items. An MTU may use a combination of sortingtechnologies to distinguish selected recyclable materials such as glassor metals from other types of trash. In some embodiments, an MTU mayperform sorting functions with the help of a central computer system. Insome embodiments, merchandise-like items may be set aside andidentifiable recyclable items may be moved to assigned bins. In someembodiments, the system may utilize technologies such as sensors, MTUs,and a central computer system. In some embodiments, the system mayfurther use visual recognition to find and set aside recognizedrecyclables.

In some embodiments, non-recyclable but burnable materials may becollected as fuel to be used as a heat source for heating a buildingand/or a hot-water heater. Food waste may be sorted out and used as afeed for animals or as a compost to be added as a soil supplement.Hazardous waste such as batteries, light bulbs, or chemical compoundsmay be set aside for proper disposal.

In some embodiments, with a sorting system, contents of trash bins aredumped into a tumbler which loosens up the trash in preparation ofmachine or human inspection. The tumbler may sort larger items fromsmaller by allowing smaller items to fall through holes in the tumbler.Smaller items may be separated onto a sorting pad and inspected forjewelry and small electronic items. Lighter items (e.g. paper, plasticbags, etc.) may be blown off into a dumpster. Larger items may come outof the end of the tumbler placed on a sorting pad, on which an MTU maylook for potential merchandise-like items and identifiable recyclablematerial (metal, glass, plastics). On the sorting pad, the MTU mayidentify, classify, and recommend disposition methods for items and moveitems of potential interest to separate bins. In some embodiments, storeassociates may be instructed to make a final inspection of presortedmaterial, confirms selected disposition method, and places material inproper receptacles for pick up.

In some embodiments, the system may perform weight detection to evaluatediscarded items. In some embodiments, the system may include one or moreof: a metal detector (magnetic field) to determining values of items, anoptical sensor (lasers, infrared, opacity, color) for identifying items,a camera for visual (models, shapes) identification and textrecognition, a barcode reader for obtaining an item identifiers,ultrasonic density scanner for determining content volume/mass. Thesystem may further include sorting holes for smaller items to fallthrough, a blower for moving lighter items aside, and a rotating brushfor loosening items as part of a presorting process.

FIG. 18 illustrates a block diagram of an exemplary shopping facilityassistance system 1800, similar to that of FIG. 1, as configured inaccordance with various embodiments of these teachings. The shoppingfacility assistance system 1800 includes a central computer system 1820,an item characterization database 1830, and a motorized transport unit1840 (MTU). The shopping facility assistance system 1800 may include orbe implemented at least partially with one or more components shown inFIGS. 1, 4, and 5 or may be implemented outside of the embodiments ofFIGS. 1, 4 and 5.

The central computer system 1820 includes a control circuit 1821 and amemory 1822, and may be generally referred to as a processor-baseddevice. In some embodiments, the central computer system 1820 may beimplemented to include or as part of one or more of the central computersystem 106 and/or the computer device 500 described above. For example,the functionalities of the central computer system 1820 described hereinmay be implemented as one or more software modules in the centralcomputer system 106.

The central computer system 1820 has stored in its memory 1822, a set ofcomputer readable instructions that is executable by the control circuit1821 to cause the control circuit 1821 to instruct an MTU 1840 to sortitems discarded in a shopping facility based the information stored inthe item characterization database 1830. In some embodiments, thecentral computer system 1820 may be located inside of and serve aspecific shopping space. In some embodiments, the central computersystem 1820 may be at least partially implemented on a remote and/orcloud-based server that provides instructions to MTUs in one or moreshopping facilities.

The item characterization database 1830 may comprise a database thatstores item characteristics corresponding to a plurality of items likelyto be found in the shopping facility. In some embodiments, itemcharacteristics may comprise one or more of: item appearance, itemshape, item weight, item density, item text, item identifier, itembarcode, item condition, etc. In some embodiments, item characterizationdatabase 1830 comprises a plurality of object models, and the itemcharacteristic may be determined based on comparing the data receivedfrom the sensor device 1842 with the plurality of object models in theitem characterization database. In some embodiments, an itemcharacteristic may comprise a characteristic directly obtained from theitem by a sensor. In some embodiments, an item characteristic maycomprise a characteristic retrieved from the item characteristicsdatabase using another characteristic obtained from the item by asensor. In some embodiments, the item characterization database 1830 maymatch item characteristics and/or combination of characteristics to oneor more predefined categories for sorting purposes. For example, asorting category may be associated with each unique item identifierand/or identifiable item type in the item characterization database1830. In some embodiments, predefined categories may comprise one ormore: recyclable items, compostable items, likely customer items,merchandise, merchandise-like items, valuable items, metal items, glassitems, paper items, plastic items, and trash. Generally, the itemcharacterization database 1830 stores information that allows thecentral computer system 1820 to identify an item and/or select one ormore sorting categories based on information collected by one or moretypes of sensor. While the item characterization database 1830 is shownas being external to the central computer system in 1820, in someembodiments, the item characterization database 1830 and the memory 1822of the central computer system 1820 may be implemented on the same oneor more computer-readable memory devices or on separate devices. Thecentral computer system 1820 may be communicatively coupled to the itemcharacterization database 1830 through wired and/or wireless localand/or remote data connections.

The motorized transport unit 1840 may comprise a motorized unitconfigured to communicate with the central computer system 1820 andcarry out one or more tasks based on instructions received from thecentral computer system 1820. In some embodiments, the motorizedtransport unit 1840 may comprise the MTU 102 described in FIG. 1, theMTU shown in FIGS. 2A-3B, and/or the MTU 102 described in FIG. 4, forexample. Generally, an MTU 1840 may comprise a motorized deviceconfigured to move around a sorting pad, gather sensor information, andsort items on the sorting pad according to instructions received from acentral computer system 1820. The MTU 1840 includes a sensor device 1842and an item mover device 1843. The sensor device 1842 may comprise oneor more of an image sensor, a weight sensor, a barcode reader, a radiofrequency identification (RFID) reader, a metal detector, an opticalsensor, an ultrasonic density scanner, etc. The sensor device 1842 maybe attached to and carried by the MTU 1840. In some embodiments, one ormore sensors of the sensor device 1842 may comprise a sensor moduleattachment that may be removably attached to the MTU 1840. In someembodiments, similar and/or additional sensor(s) may be stationed arounda sorting pad and/or one or more presorting devices for collectingadditional information from the items for the central computer system1820 to analyze. In some embodiments, the sensor device 1842 may beinclude one or more sensors for detecting item characteristic comprisingone or more of: item appearance (e.g. color, reflectiveness, pattern,etc.), item shape, item weight, item density, item text, itemidentifier, item barcode, item condition (e.g. dirty, damaged, etc.),etc.

The item mover device 1843 may comprise a structure for making contactwith items to move an item on a sorting pad. In some embodiments, theitem mover device 1843 may comprise a bumper, a shovel, a clamp, abrush, a suction device, a magnet, a scoop, an arm, etc. In someembodiments, the item mover device 462 may comprise a removableattachment of the MTU 1840. In some embodiments, the item mover device462 may comprise the housing of the MTU such as the edges of the lowerbody portion 204 and/or the upper body portion 206 of the MTU shown inFIGS. 2A and 2B. In some embodiments, an item mover device 1843 may beconfigured to push, pull, pick up, and/or attach to an item for sorting.While one MTU is shown in FIG. 18, in some embodiments, the centralcomputer system 1820 may communicate with a plurality of MTU performingone or more types of tasks. In some embodiments, two or more MTUs may beassigned to sort discarded items and may simultaneously sort the samegroup of items in a sorting area.

FIG. 19 shows a flow diagram of a process for sorting items discarded ina shopping facility in accordance with various embodiments of theseteachings. The steps shown in FIG. 19 may be performed by one or more ofthe central computer system 1820 in FIG. 18, the central computer system106 in FIG. 1, and the computer device 500 in FIG. 5, for example. Insome embodiments, the steps are performed by a processor-based deviceexecuting a set of computer readable instructions stored on a memorydevice. In some embodiments, one or more of the steps may be performedby a software program and/or modules of a software program running on acomputer system. Generally, the steps shown in FIG. 19 may be performedby a control circuit of a processor-based device.

Prior to step 1910, discarded items from a shopping space may becollected and placed in a sorting area. In some embodiments, discardeditems comprise items in trash bins of a shopping facility and/or itemscollected from the floor of the shopping space (including one or more ofsales floor, storage area, restroom, parking lot, etc.) In someembodiments, the discarded items may go through a presort processincluding one or more of loosening, separating, and winnowing toseparate out items by weight and/or size. An example of a presortingprocess is described in more detail with reference to FIG. 20 herein. Insome embodiments, the sorting area may comprise a sorting pad in abackroom area and/or outdoor area of a shopping facility. In someembodiments, the sorting area may be used for other functions in theshopping facility such as a pathway, a storage area, a parking area,etc. when the area is not used for sorting discarded items. In someembodiment, the sorting area may comprise any area where a sorting padmay be set up. In some embodiments, a sorting pad may generally refer toa defined area in which an MTU may travel to perform item sorting. Insome embodiments, a sorting pad may prefer to a flexible material thatcan be folded/rolled up and stored. In some embodiments, the items maybe placed in a pile on the sorting pad and the MTU may be configured toretrieve and sort items from the perimeter of the pile. In someembodiments, the items may be spread out over the sorting pad and theMTU may be configured to travel among the items to sort them.

In step 1910, the system receives data from a sensor device. In someembodiments, the sensor device may comprise one or more sensors on anMTU. The MTU may be positioned on or around the sorting pad in whichdiscarded items are placed. In some embodiments, the MTU may beconfigured to travel among discharged items on a sorting pad. In someembodiments, the sensor device may comprise one or more of an imagesensor, a weight sensor, a barcode reader, a radio frequencyidentification (RFID) reader, a metal detector, an optical sensor, andan ultrasonic density scanner. The sensor device may be attached to andcarried by the MTU. In some embodiments, in step 1910, the system mayinstruct the MTU to manipulate one or more items to gather additionaldata. For example, the system may cause the MTU to remove obstructionsand/or change the orientation of the item to look for barcodes and/orother identifying marks on the item. In some embodiments, in step 1910,additional data may be received from similar and/or additional sensorsstationed around the sorting pad for collecting additional informationfor the central computer system to analyze.

In step 1910, the system determines one or more item characteristics ofan item among the discarded items in the sorting area based on the datacollected by the sensor device. In some embodiments, item characteristicmay comprise one or more of: item appearance (e.g. color,reflectiveness, pattern, etc.), item shape, item weight, item density,item text, item identifier, item barcode, item condition (e.g. dirty,damaged, etc.), etc. In some embodiments, the system may furtheridentify the item based on the characteristics data. For example, anitem characteristic database may store a plurality characteristicscorresponding to a plurality of items likely to be found in the shoppingfacility. The system may compare the data received in step 1910 with thecharacteristic data in the item characteristic database to identify theitem. In some embodiments, item characteristic may be determined bycomparing an item identifier associated with the item with a storeinventory database to determine whether the item corresponds tomerchandise sold in the shopping facility. In some embodiments, thesystem may match the item to an item for sale in step 1920. For example,the MTU may read a barcode, an item identifier (name, brand, marking,etc.), and/or a RFID tag on the item to determine the identity of theitem and derive the characteristics based on the determined identity(e.g. “no. 123456” corresponds to an alumni can, “family size A brandcereal” corresponds to cardboard box, etc.). In some embodiments, thebarcode, item identifier, and RFID tag information for items may beretrieved from an inventory database of the shopping facility. In someembodiments, the system may use the item's appearance, size, shape,weight, etc. to identify the merchandise and/or non-merchandise items.For example, the system may identify a round and flat metal disk as acoin, and may use the weight of the coin to further determine the coindenomination. In some embodiments, item characteristic may be based onboth identifying the item and making direct measurements of one or moreitem characteristics. For sample, the system may be configured toidentify a soda can based on an identifier (e.g. barcode) anddistinguish whether the can is full, half full, or empty based measuringthe can's weight. In some embodiments, the sensor data may be used todetermine a state of the item such as one or more of: new, used, full,empty, dirty, damaged, broken, etc. Generally, in step 1920, the systemmay match a discarded item to a specific item and/or an item type basedon sensor data.

In step 1930, the system determines a sorting category for the item. Insome embodiments, the item characterization database may assign asorting category to a plurality of identifiable items and item types. Insome embodiments, an item may be assigned to one of the two or moresorting categories based on the state of the item (e.g. unopened andundamaged soda can may be categorized as merchandise while empty sodacan may be categorized as recyclable metal). In some embodiments, thesorting category may be determined based on one or more characteristicsand/or combination of characteristics measured by the sensor device. Thesorting categories may comprise predefined categories such as one ormore: recyclable items, compostable items, likely customer items,merchandise, merchandise-like items, valuable items, metal items, glassitems, paper items, plastic items, and trash. In some embodiments, eachcategorize may be generally associated with a method of deposition (e.g.send to X recycling service, send to landfill, convert to fuel, convertto compost, inspected for restocking, etc.).

In step 1940, the system causes the MTU to move the item into a categoryarea. In some embodiments, the MTU may be configured to push, pull, pickup, and/or attach to an item. In some embodiments, the MTU may comprisean item mover device for moving the item. In some embodiments, as theMTU moves the item, the MTU may use one or more of its sensor devices tonavigate among one or more items in the sorting area. In someembodiments, in step 1940, the instructions provided to the MTU mayfurther comprise instructions to move other items out of the way. Insome embodiments, the category areas may be around and/or adjacent tothe sorting pad. In some embodiments, the sorting pad may comprise aplatform that is raised relative to the category areas. In someembodiments, the categories areas may each comprise an item receptaclesuch as a receptacle bin. In some embodiments, the MTU may be configuredto push items off the sorting pad and into one of the categoryreceptacles adjacent to the sorting pad. An example of a sorting area isdescribed herein with reference to FIG. 20.

After step 1940, the process may return to step 1910 to sort anotheritem on the sorting pad. In some embodiments, the process may continueto repeat until all items on the sorting pad have been moved to acategory area and/or when a category area is full. In some embodiments,when a bin of a category area is full, the system may instruct the MTU,another MTU, and/or a store associate to replace the bin with a new bin.In some embodiments, after sorting of the discarded items is complete,the MTU may exit sorting mode and may be assigned to one or more othershopping space assistance tasks described herein. In some embodiments,the MTU may comprise a dedicated sorting MTU. While one MTU is generallydescribed herein with reference to FIG. 19, in some embodiments, thesystem may instruct two or more MTUs to sort the same group of items ona sorting pad simultaneously.

FIG. 20 shows an illustration of a process according to someembodiments. In stage 2010, the discarded items collected in a shoppingfacility are moved through a rotating brush to loosen the gathereditems. The rotating brush may be part of a separator configured toreceive discarded items from a container and loosen the discarded itemsfrom each other. In stage 2020, items are separated through a tumbler.In some embodiments, the tumbler may be configured to separate discardeditems by size. For example, the tumbler may comprise one or more holesthrough which smaller items may drop through. In some embodiments, thesmaller items may be placed on a small item sorting pad separate fromlarge items placed on a large item sorting pad. One or more MTUs and/orstore associated may be instructed to sort the items on differentsorting pads separately. In some embodiments, the tumbler may separatethe items based on three or more size types (e.g. small, medium, andlarge). In stage 2030, a fan blows light items (e.g. paper, plasticbags) off into a dumpster. In some embodiments, the fan may beimplemented with or near the rotating brush, the tumbler, and/or thesorting pad. In stage 2040, items on a sorting pad are sorted by an MTU.

In FIG. 20, the sorting pad is surrounding by six category areas: metal,glass, plastic, trash, merchandise-like items, and merchandise items.The MTU may be configured to move the items that were presorted by thetumbler into one of the six category areas according to methods forsorting discarded items described herein. In some embodiments, itemssorted into metal, glass, and plastic categories may be sent to acorresponding cycling center, trash may be sent to landfill, andmerchandise may be inspected and potentially re-shelved.Merchandise-like may comprise items that need to be inspected for properdisposal. In some embodiments, merchandise-like items may include itemsthat do not match merchandise being sold in the shopping facility andcould be items lost by customer and/or associates (e.g. wallet, key,ring, etc.). In some embodiments, customer items may be sent to lost andfound. The categories in FIG. 20 are shown as an example only. Thesystem may include any number of categories area in any placement andorder around the sorting pad without departing from the spirit of thepresent disclosure. In some embodiments, one or more of the rotatingbrush, the tumbler, the fan, and the sorting pad may comprise astationary and/or portable system configured to operate at the shoppingfacility at which the discarded items are collected.

FIG. 21 shows a system diagram for sorting discarded items in a shoppingfacility. The system comprises a presort system 2110, an externalsensor/camera 2120, a central computer system 2130, an MTU 2140, and asorting pad and bins 2150 setup. In some embodiments, one or more of thepresort system 2110, the external sensor/camera 2120, the centralcomputer system 2130, the MTU 2140, and the sorting pad and bins 2150setup may be located in the shopping facility from which the discardeditems are collected. The presort system 2110 may comprise one or more ofa brush, a tumbler, and a fan to separate discarded items collected froma shopping facility. In some embodiments, the system includes externalsensor/camera 2120 for collecting data from discarded items. In someembodiments, data may be collected by the sensors while the items arebeing pre-sorted.

The central computer system 2130 may comprise a processor-based deviceconfigured to categorize discarded items and provide instructions to theMTU 2140. The central computer system 2130 may comprise an item filedatabase 2131, an object images/models database 2132, an objectidentification process module 2133, an object categorization processmodule 2134, and a disposition process module 2135. The item file data2131 may comprise identifiers and/or characteristics associated withvarious items sold in a shopping facility and/or items likely to befound in a shopping facility. The object image/models database 2132 maycomprise object images and models that are representative differentobject's characteristics and property (e.g. visual properties, weight,texture, size, etc.). The object identification process module 2133 maybe configured to compare data collected by the external sensor/camera2120 and/or sensors on the MTU 2140 with the information in the itemfile database 2131 and/or the object images/models database 2132 toidentify and/or categorize an object. An object may be matched to anitem identifier (e.g. barcode, UPC, etc.) and/or an item typedescription (e.g. keys, coins, credit cards, empty cup, etc.). Theobject categorization process module 2134 may be configured tocategorize objects based on each object's identity determined by theobject identification process module 2133. For example, each itemidentifier and/or type may be assigned to one of a plurality ofpredetermined categories such as recyclable items, compostable items,likely customer items, merchandise, merchandise-like items, valuableitems, metal items, glass items, paper items, plastic items, trash, etc.The disposition process module 2135 may then determine a dispositionmethod (e.g. where to move the item) and provide instructions to the MTU2140.

The MTU 2140 may comprise a motored movable unit configured to moveitems based on instructions received from the central computer system2130. In some embodiments, the MTU 2140 may comprise an MTU identical orsimilar to MTUs described herein. The MTU 2140 may be configured to sortitems on a sorting pad based on instructions from the central computersystem 2130. The MTU 2140 comprises a sensor such as one or more of: acamera, a barcode scanner, a metal detector, an ultrasonic reader, atext reader, a weight sensor, etc. The sensor data collected by the MTU2140 sensor may be transmitted back to a central computer system 2130for object identification and/or MTU navigation. In some embodiments,the MTU 2140 may further include an item handling attachment such as oneor more of a shovel, a brush, and an arm to move selected items.

The sorting pad and bins 2150 set up may comprise a sorting pad and aplurality of bins around the sorting pad for receiving sorted items. TheMTU 2140 may be configured to travel on the sorting pad and, based oninstructions from the central computer system 2130, sort the discardeditems by moving each item into one or more of the bins. In someembodiments, the sorting pad may comprise a raised sorting platform andthe bins may be configured to catch items that are pushed/dropped offthe platform. In some embodiments, each bin may correspond to one ormore sorting categories such as metal, glass, plastic, trash, returnsmerchandise, fuel, etc.

FIG. 22 shows a process diagram for sorting discarded items according tosome embodiments. In step 2211, an associate may manually empty one ormore trash bins into an item sorter. Additionally or alternatively, instep 2241, an MTU may be configured to empty trash bins into sorters. Instep 2221, trash is pre-sorted and separated by size and/or weight (e.g.lighter, smaller, larger, heavier, etc.) to facilitate sensor analysis.

In step 2222, external sensor data may be collected by one or moreexternal sensors. The external sensor may be positioned at the sortingsystem and/or may be positioned in or around a sorting pad. In step2231, the central computer system analyzes the external sensor data todetermine whether the sorting pad is empty and/or if bins associatedwith sorting categories are full. In step 2242, an MTU may be instructedto exchange full bins with empty ones. In some embodiments, the MTU maybe instructed to continue sorting until the sorting pad is empty. Insome embodiments, the sorting pad may comprise a category area and itemsleft on the sorting pad may be collected for disposal (e.g. inspectmanually, send to landfill, etc.). In some embodiments, the externalsensor data monitoring steps of 2222, 2231, and 2242 may be repeatedwhile an MTU sorts items on a sorting pad.

In step 2243, an MTU moves, handles, and manipulates trash items tofacilitate item identification. For example, the MTU may change theorientation of an item and/or remove obstructions to the item to lookfor identifying marks such as barcodes, logos, etc. In some embodiments,the MTU may pick up the item to determine the weight of the item. Instep 2244, the sensor(s) on the MTU gathers data from the discardeditems. The gathered data may comprise one or more of: scanned barcode,video image, recognizable text, metal detector reading, ultrasonicscanner reading, weight, thermal data, etc. In step 2232, the centralcomputer system identifies objects based on one or more of: comparingimages or 3D models, looking up item file data and looking up physicalcharacteristics to determine the closest match and/or the best guess ofthe identity of the item. In step 2212, the system may notify associatesof any object that the MTU may be unable to handle. For example,oversize items, fragile items, and/or unidentifiable items may be lefton the pad or sorted into a separate area for human handling. In step2233, the central computer system categorizes objects based on theidentity of the object determine in step 2232. In step 2234, the centralcomputer system determines a disposition methods for the objects. Insome embodiments, the system may further select a disposal bin based oncategory and/or disposition method determined in step 2234. In step2245, the central computer system instructs the MTU to move objects intoselected bins. In some embodiments, the MTU may move items off thesorting pad and into one of the bins associated with a sorting categoryaround the sorting pad. In step 2213, the central computer system maynotify associates to validate the disposition of items in various bins.For example, associates may be instructed to perform a manual inspectionand/or secondary sorting of the one or more bins and/or the itemsremaining on the sorting pad.

In some embodiments, apparatuses and methods are provided herein usefulfor sorting items discarded in a shopping facility. In some embodiments,a system for sorting items discarded in a shopping facility, comprises amotorized transport unit configured to travel around discarded itemscollected from the shopping facility and placed in a sorting area in theshopping facility, the motorized transport unit comprises a sensordevice and an item mover device, an item characterization databasestoring characteristics corresponding to a plurality of items likely tobe found in the shopping facility, and a central computer system coupledto the motorized transport unit and the item characterization database.The central computer system is configured to receive data from thesensor device on the motorized transport unit, determine an itemcharacteristic of an item among the discarded items in the sorting areabased on the data from the sensor device, determine a sorting categoryof the item from a plurality of predefined categories based on the itemcharacterization database, each of the plurality of predefinedcategories corresponds to a method of discarded item deposition, andcause the motorized transport unit to move the item, with the item moverdevice, from the sorting area into a category area associated with thesorting category.

In some embodiments, a plurality of predefined categories comprises oneor more: recyclable items, compostable items, likely customer items,merchandise, merchandise-like items, valuable items, metal items, glassitems, paper items, plastic items, and trash. In some embodiments, thesensor device comprises one or more of an image sensor, a weight sensor,a barcode reader, and a radio frequency identification (RFID) reader. Insome embodiments, the item characteristic comprises one or more of: itemappearance, item shape, item weight, item density, item text, itemidentifier, item barcode, and item condition. In some embodiments, theitem characterization database comprises a plurality of object models,and the item characteristic is determined based on comparing the datareceived from the sensor device with the plurality of object models inthe item characterization database. In some embodiments, the itemcharacteristic is determined by comparing an item identifier associatedwith the item with a store inventory database to determine whether theitem corresponds to merchandise sold in the shopping facility. In someembodiments, the system further comprises a separator configured toreceive the discarded items from a container and loosen the discardeditems from each other prior to the discarded items being placed in thesorting area. In some embodiments, the system further comprises atumbler configured to separate the discarded items by size prior to thediscarded items being placed in the sorting area. In some embodiments,the system further comprises a fan configured to remove light weightmaterial from the discarded items. In some embodiments, the sorting areacomprises a sorting platform and the category area comprises one of aplurality of receptacle bins positioned adjacent to the sortingplatform.

In some embodiments, a method for sorting items discarded in a shoppingfacility, comprises receiving, at a control circuit, data from a sensordevice on a motorized transport unit configured to travel arounddiscarded items collected from the shopping facility and placed in asorting area in the shopping facility, determining, by the controlcircuit, an item characteristic of an item among the discarded items inthe sorting area based on the data from the sensor device, determining,by the control circuit, a sorting category of the item from a pluralityof predefined categories based on an item characterization databasestoring characteristics corresponding to a plurality of items likely tobe found in the shopping facility, wherein each of the plurality ofpredefined categories corresponds to a method of discarded itemdeposition, and causing the motorized transport unit to move the itemfrom the sorting area into a category area associated with the sortingcategory with an item mover device of the motorized transport unit.

In some embodiments, the plurality of predefined categories comprisesone or more: recyclable items, compostable items, likely customer items,merchandise, merchandise-like items, valuable items, metal items, glassitems, paper items, plastic items, and trash. In some embodiments, thesensor device comprises one or more of an image sensor, a weight sensor,a barcode reader, and a radio frequency identification (RFID) reader. Insome embodiments, the item characteristic comprises one or more of: itemappearance, item shape, item weight, item density, item text, itemidentifier, item barcode, and item condition. In some embodiments, theitem characterization database comprises a plurality of object models,and the item characteristic is determined based on comparing the datareceived from the sensor device with the plurality of object models inthe item characterization database. In some embodiments, the itemcharacteristic is determined by comparing an item identifier associatedwith the item with a store inventory database to determine whether theitem corresponds to merchandise sold in the shopping facility. In someembodiments, the system further performs: causing a separator configuredto receive the discarded items from a container to loosen the discardeditems from each other prior to the discarded items being placed in thesorting area. In some embodiments, the system further performs: causinga tumbler to separate the discarded items by size prior to the discardeditems being placed in the sorting area. In some embodiments, the systemfurther performs: causing a fan to remove light weight material from thediscarded items. In some embodiments, the sorting area comprises asorting platform and the category area comprises one of a plurality ofreceptacle bins positioned adjacent to the sorting platform.

In some embodiments, an apparatus for sorting items discarded in ashopping facility comprises: a non-transitory storage medium storing aset of computer readable instructions and a control circuit configuredto execute the set of computer readable instructions which causes to thecontrol circuit to: receive, at a control circuit, data from a sensordevice on a motorized transport unit configured to travel amongdiscarded items collected from the shopping facility and placed in asorting area in the shopping facility, determine, by the controlcircuit, an item characteristic of an item among the discarded items inthe sorting area based on the data from the sensor device, determine, bythe control circuit, a sorting category of the item from a plurality ofpredefined categories based on an item characterization database storingcharacteristics corresponding to a plurality of items likely to be foundin the shopping facility, each of the plurality of predefined categoriescorresponds to a method of discarded item deposition, and cause themotorized transport unit to move the item from the sorting area into acategory area associated with the sorting category with an item moverdevice of the motorized transport unit.

Those skilled in the art will recognize that a wide variety ofmodifications, alterations, and combinations can be made with respect tothe above described embodiments without departing from the scope of theinvention, and that such modifications, alterations, and combinationsare to be viewed as being within the ambit of the inventive concept.

What is claimed is:
 1. A track system, comprising: an elevated tracksystem within a retail store, wherein the elevated track systemcomprises a series of elevated tracks that are positioned elevated abovea sales floor of the retail store and retail products to be sold fromthe retail store, wherein the elevated tracks are distributed over atleast a portion of the sales floor of the retail store, and configuredsuch that multiple motorized transport units travel along the series ofelevated tracks in traversing at least portions of the retail store;wherein the elevated track system further comprises one or more stagingareas that are not one of the series of elevated track and extenddirectly from a first track of the series of elevated tracks, whereinthe one or more staging areas are configured to receive and support oneor more motorized transport units that are idle and awaitinginstructions from a central computer system and allow the one or moremotorized transport units to be maintained in the elevated track systemwithout interfering with one or more other motorized transport units asthey travel along at least the first track of the series of elevatedtracks.
 2. The system of claim 1, further comprising: one or more chuteseach cooperated with one of the elevated tracks and configured toprovide a passage for one or more of the motorized transport unitsbetween the series of elevated tracks and the sales floor.
 3. The systemof claim 2 wherein at least one of the one or more chutes comprisevertical chutes with at least two channels formed therein to receive acorresponding part of each motorized transport unit that passes throughthe at least one chute.
 4. The system of claim 1, wherein at least afirst elevated track comprises a width greater than two motorizedtransport units and the first elevated track is configured to allow afirst motorized transport unit supported by and traveling on the firstelevated track to pass a second motorized transport unit also supportedby and traveling on the same first elevated track.
 5. The system ofclaim 1, wherein each of the elevated tracks of the series of elevatedtracks is configured to support the motorized transport units while themotorized transport units are positioned on top of and wheels of themotorized transport units roll on an upper surface of a respective oneof the series of elevated tracks, and each of the elevated tracks of theseries of elevated tracks intersects at least one other of the multipleelevated tracks extending away in a different direction and definingmultiple intersections between the at least two intersecting elevatedtracks, and wherein the multiple motorized transport units areconfigured to transition at one or more of the intersections betweendifferent elevated tracks of the series of elevated tracks in traversingat least a portion of the sales floor of the shopping facility.
 6. Thesystem of claim 1, wherein at least one of the one or more elevatedstaging areas comprises one or more charging stations each configured toelectrically couple with any one of the multiple motorized transportunits and charge a rechargeable battery of the coupled motorizedtransport unit while positioned on the at least one of the one or moreelevated staging areas.
 7. The system of claim 1, further comprising: acentral computer system of the retail store configured to communicaterouting instructions to the multiple motorized transport units directingthe one or more motorized transport units along one or more tracks ofthe series of elevated tracks in moving to respective desireddestinations within the retail store.
 8. The system of claim 7, whereinthe central computer system further comprises: a control circuit coupledwith the transceiver; and a memory coupled to the control circuit andstoring computer instructions that when executed by the control circuitcause the control circuit to perform the steps of: track locations ofeach of the multiple motorized transport units; and cooperativelycoordinate the movements of the multiple motorized transport units asthey travel along the series of elevated tracks and the sales floor. 9.The system of claim 8, wherein the control circuit in executing thecomputer instructions is further configured to: identify a locationwhere a motorized transport unit is desired to perform a task; identifya first motorized transport unit, of the multiple motorized transportunits, intended to be directed to the identified location to perform thetask; determine first routing instructions that include directions alongone or more elevated tracks of the series of elevated tracks that thefirst motorized transport unit is to follow in moving to the identifiedlocation; and communicate the first routing instructions to the firstmotorized transport unit.
 10. The system of claim 1, wherein each of theelevated tracks is positioned elevated above and extending over multipledifferent product support shelving units and areas where people walk.11. A method of routing motorized transport units through a retailstore, comprising: by a central computer system of a retail store:instructing multiple motorized transport units to access an elevatedtrack system within a retail store wherein the elevated track systemcomprises a series of elevated tracks that are positioned elevated abovea sales floor of the retail store and retail products to be sold fromthe retail store, and the series of elevated tracks are distributed overat least a portion of the sales floor of the retail store; instructingthe multiple motorized transport units to travel along the series ofelevated tracks in traversing at least portions of the retail store; andinstructing a first motorized transport unit of the multiple motorizedtransport units to enter an elevated staging area of the elevated tracksystem, wherein the staging area is not one of the series of elevatedtracks and extends from a first elevated track of the series of elevatedtracks, wherein the staging area is configured to receive and supportone or more of the multiple motorized transport units that are idle andawaiting instructions from the central computer system and allow theidle one or more motorized transport units to be maintained in theelevated track system without interfering with one or more othermotorized transport units as they travel along at least the firstelevated track of the series of elevated tracks.
 12. The method of claim11, wherein the instructing the multiple motorized transport units toaccess the elevated track system comprises instructing the multiplemotorized transport units to access at least one of one or more chuteseach cooperated with one of the elevated tracks, wherein each of the oneor more chutes provides a passage for one or more of the motorizedtransport units between the series of elevated tracks and the salesfloor.
 13. The method of claim 12, wherein at least one of the one ormore chutes comprise vertical chutes with at least two channels formedtherein to receive a corresponding part of each motorized transport unitthat passes through the at least one chute.
 14. The method of claim 11,wherein the instructing the multiple motorized transport units to travelalong the series of elevated tracks comprises instructing at least firstand second motorized transport units to travel along at least a firstelevated track having a width greater than two motorized transport unitssuch that the first motorized transport unit supported by and travelingon the first elevated track passes the second motorized transport unitalso supported by and traveling on the same first elevated track. 15.The method of claim 11, wherein the instructing the multiple motorizedtransport units to access the elevated track system, comprises directinga second motorized transport unit sequentially across multiple differentelevated tracks of the series of elevated tracks to reach an intendedlocation in the retail store, wherein each of the elevated tracks of theseries of elevated tracks is configured to support the motorizedtransport units while the motorized transport units are positioned ontop of and wheels of the motorized transport units roll on an uppersurface of a respective one of the series of elevated tracks, and eachof the elevated tracks of the series of elevated tracks intersects atleast one other of the multiple elevated tracks extending away in adifferent direction and defining multiple intersections between the atleast two intersecting elevated tracks, and wherein the directing thesecond motorized transport unit sequentially across the multipledifferent elevated tracks comprises directing the second motorizedtransport unit to transition at one or more of the intersections betweendifferent elevated tracks of the series of elevated tracks in traversingat least a portion of the sales floor of the retail store.
 16. Themethod of claim 11, further comprising: instructing at least a firstmotorized transport unit to electrically couple with a first chargingstation while the first motorized transport unit is positioned on thestaging area wherein the staging area comprises the charging stationconfigured to electrically couple with any one of the multiple motorizedtransport units and charge a rechargeable battery of the coupledmotorized transport unit.
 17. The method of claim 11, furthercomprising: communicating routing instructions to the multiple motorizedtransport units directing the one or more motorized transport unitsalong one or more tracks of the series of elevated tracks in moving torespective desired destinations within the retail store.
 18. The methodof claim 17, further comprising: tracking locations of each of themultiple motorized transport units; and cooperatively coordinating themovements of the multiple motorized transport units as they travel alongthe series of elevated tracks and the sales floor.
 19. The method ofclaim 18, further comprising: identifying a location where a motorizedtransport unit is desired to perform a task; identifying a firstmotorized transport unit, of the multiple motorized transport units,intended to be directed to the identified location to perform the task;determining first routing instructions that include directions along oneor more elevated tracks of the series of elevated tracks that the firstmotorized transport unit is to follow in moving to the identifiedlocation; and communicating the first routing instructions to the firstmotorized transport unit.